From a232b9bf98abddf6735c1a874b5a56d550da1b49 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 5 May 2022 16:46:04 +0200 Subject: [PATCH] assign better sus names --- bsp_hosted/ObjectFactory.cpp | 2 +- bsp_q7s/boardtest/Q7STestTask.cpp | 233 +++++++------ bsp_q7s/boardtest/Q7STestTask.h | 1 + common/config/commonObjects.h | 35 +- linux/ObjectFactory.cpp | 71 ++-- linux/boardtest/LibgpiodTest.cpp | 4 +- linux/fsfwconfig/devices/addresses.h | 24 +- .../pollingSequenceFactory.cpp | 314 ++++++++++++------ 8 files changed, 404 insertions(+), 280 deletions(-) diff --git a/bsp_hosted/ObjectFactory.cpp b/bsp_hosted/ObjectFactory.cpp index 7ad599ea..55ebda0f 100644 --- a/bsp_hosted/ObjectFactory.cpp +++ b/bsp_hosted/ObjectFactory.cpp @@ -7,9 +7,9 @@ #include #include #include -#include "fsfw_tests/integration/task/TestTask.h" #include "OBSWConfig.h" +#include "fsfw_tests/integration/task/TestTask.h" #if OBSW_USE_TMTC_TCP_BRIDGE == 0 #include "fsfw/osal/common/UdpTcPollingTask.h" diff --git a/bsp_q7s/boardtest/Q7STestTask.cpp b/bsp_q7s/boardtest/Q7STestTask.cpp index 0f6734b6..6cf4e734 100644 --- a/bsp_q7s/boardtest/Q7STestTask.cpp +++ b/bsp_q7s/boardtest/Q7STestTask.cpp @@ -156,13 +156,13 @@ void Q7STestTask::testDummyParams() { result = param.getValue(DummyParameter::DUMMY_KEY_PARAM_1, test); if (result != HasReturnvaluesIF::RETURN_OK) { sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1 - << " does not exist" << std::endl; + << " does not exist" << std::endl; } std::string test2; result = param.getValue(DummyParameter::DUMMY_KEY_PARAM_2, test2); if (result != HasReturnvaluesIF::RETURN_OK) { sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1 - << " does not exist" << std::endl; + << " does not exist" << std::endl; } sif::info << "Test value (3 expected): " << test << std::endl; sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl; @@ -172,7 +172,7 @@ ReturnValue_t Q7STestTask::initialize() { coreController = ObjectManager::instance()->get(objects::CORE_CONTROLLER); if (coreController == nullptr) { sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object" - << std::endl; + << std::endl; } return TestTask::initialize(); } @@ -182,14 +182,14 @@ void Q7STestTask::testProtHandler() { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; // If any chips are unlocked, lock them here result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true, - opPerformed, true); + opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) { sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; } // unlock own copy result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false, - opPerformed, true); + opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) { sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; } @@ -203,7 +203,7 @@ void Q7STestTask::testProtHandler() { // lock own copy result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true, - opPerformed, true); + opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) { sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; } @@ -217,7 +217,7 @@ void Q7STestTask::testProtHandler() { // unlock specific copy result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false, - opPerformed, true); + opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) { sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; } @@ -231,7 +231,7 @@ void Q7STestTask::testProtHandler() { // lock specific copy result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true, - opPerformed, true); + opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) { sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; } @@ -273,7 +273,7 @@ void Q7STestTask::testGpsDaemonShm() { } void Q7STestTask::testGpsDaemonSocket() { - if(gpsmmShmPtr == nullptr) { + if (gpsmmShmPtr == nullptr) { gpsmmShmPtr = new gpsmm("localhost", DEFAULT_GPSD_PORT); } // The data from the device will generally be read all at once. Therefore, we @@ -283,7 +283,7 @@ void Q7STestTask::testGpsDaemonSocket() { // Opening failed #if FSFW_VERBOSE_LEVEL >= 1 sif::warning << "Q7STestTask::testGpsDaemonSocket: Opening GPSMM failed | " - << "Error " << errno << " | " << gps_errstr(errno) << std::endl; + << "Error " << errno << " | " << gps_errstr(errno) << std::endl; #endif gpsNotOpenSwitch = false; @@ -291,17 +291,16 @@ void Q7STestTask::testGpsDaemonSocket() { return; } // Stopwatch watch; - gps_data_t *gps = nullptr; + gps_data_t* gps = nullptr; gpsmmShmPtr->stream(WATCH_ENABLE | WATCH_JSON); - if(not gpsmmShmPtr->waiting(50000000)) { + if (not gpsmmShmPtr->waiting(50000000)) { return; } gps = gpsmmShmPtr->read(); if (gps == nullptr) { if (gpsReadFailedSwitch) { gpsReadFailedSwitch = false; - sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed" - << std::endl; + sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed" << std::endl; } return; } @@ -312,8 +311,8 @@ void Q7STestTask::testGpsDaemonSocket() { if (noModeSetCntr == 10) { // TODO: Trigger event here sif::warning << "Q7STestTask::testGpsDaemonSocket: No mode could be " - "read for 10 consecutive reads" - << std::endl; + "read for 10 consecutive reads" + << std::endl; noModeSetCntr = -1; } return; @@ -339,7 +338,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) { auto fsHandler = ObjectManager::instance()->get(objects::FILE_SYSTEM_HANDLER); if (fsHandler == nullptr) { sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.." - << std::endl; + << std::endl; } FileSystemHandler::FsCommandCfg cfg = {}; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; @@ -366,115 +365,115 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) { }; switch (opCode) { - case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): { - // No mount prefix, cause file is created in tmp - cfg.useMountPrefix = false; - sif::info << "Creating empty file in /tmp folder" << std::endl; - // Do not delete file, user can check existence in shell - fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); - break; - } - case (FsOpCodes::REMOVE_TMP_FILE): { - sif::info << "Deleting /tmp/test.txt sample file" << std::endl; - // No mount prefix, cause file is created in tmp - cfg.useMountPrefix = false; - if (not std::filesystem::exists("/tmp/test.txt")) { - // Creating sample file - sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl; + case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): { + // No mount prefix, cause file is created in tmp + cfg.useMountPrefix = false; + sif::info << "Creating empty file in /tmp folder" << std::endl; + // Do not delete file, user can check existence in shell fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); + break; } - result = fsHandler->removeFile("/tmp", "test.txt", &cfg); - if (result == HasReturnvaluesIF::RETURN_OK) { - sif::info << "File removed successfully" << std::endl; - } else { - sif::warning << "File removal failed!" << std::endl; + case (FsOpCodes::REMOVE_TMP_FILE): { + sif::info << "Deleting /tmp/test.txt sample file" << std::endl; + // No mount prefix, cause file is created in tmp + cfg.useMountPrefix = false; + if (not std::filesystem::exists("/tmp/test.txt")) { + // Creating sample file + sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl; + fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); + } + result = fsHandler->removeFile("/tmp", "test.txt", &cfg); + if (result == HasReturnvaluesIF::RETURN_OK) { + sif::info << "File removed successfully" << std::endl; + } else { + sif::warning << "File removal failed!" << std::endl; + } + break; } - break; - } - case (FsOpCodes::CREATE_DIR_IN_TMP): { - // No mount prefix, cause file is created in tmp - cfg.useMountPrefix = false; - sif::info << "Creating empty file in /tmp folder" << std::endl; - // Do not delete file, user can check existence in shell - ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg); - if (result == HasReturnvaluesIF::RETURN_OK) { - sif::info << "Directory created successfully" << std::endl; - } else { - sif::warning << "Directory creation failed!" << std::endl; + case (FsOpCodes::CREATE_DIR_IN_TMP): { + // No mount prefix, cause file is created in tmp + cfg.useMountPrefix = false; + sif::info << "Creating empty file in /tmp folder" << std::endl; + // Do not delete file, user can check existence in shell + ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg); + if (result == HasReturnvaluesIF::RETURN_OK) { + sif::info << "Directory created successfully" << std::endl; + } else { + sif::warning << "Directory creation failed!" << std::endl; + } + break; } - break; - } - case (FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): { - // No mount prefix, cause file is created in tmp - cfg.useMountPrefix = false; - if (not std::filesystem::exists("/tmp/test")) { - result = fsHandler->createDirectory("/tmp", "test", false, &cfg); - } else { - // Delete any leftover files to regular dir removal works - std::remove("/tmp/test/*"); + case (FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): { + // No mount prefix, cause file is created in tmp + cfg.useMountPrefix = false; + if (not std::filesystem::exists("/tmp/test")) { + result = fsHandler->createDirectory("/tmp", "test", false, &cfg); + } else { + // Delete any leftover files to regular dir removal works + std::remove("/tmp/test/*"); + } + result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg); + if (result == HasReturnvaluesIF::RETURN_OK) { + sif::info << "Directory removed successfully" << std::endl; + } else { + sif::warning << "Directory removal failed!" << std::endl; + } + break; } - result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg); - if (result == HasReturnvaluesIF::RETURN_OK) { - sif::info << "Directory removed successfully" << std::endl; - } else { - sif::warning << "Directory removal failed!" << std::endl; + case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): { + result = createNonEmptyTmpDir(); + if (result != HasReturnvaluesIF::RETURN_OK) { + return; + } + result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg); + if (result == HasReturnvaluesIF::RETURN_OK) { + sif::info << "Directory removed recursively successfully" << std::endl; + } else { + sif::warning << "Recursive directory removal failed!" << std::endl; + } + break; } - break; - } - case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): { - result = createNonEmptyTmpDir(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return; + case (FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): { + result = createNonEmptyTmpDir(); + if (result != HasReturnvaluesIF::RETURN_OK) { + return; + } + result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::info << "Directory removal attempt failed as expected" << std::endl; + } else { + sif::warning << "Directory removal worked when it should not have!" << std::endl; + } + break; } - result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg); - if (result == HasReturnvaluesIF::RETURN_OK) { - sif::info << "Directory removed recursively successfully" << std::endl; - } else { - sif::warning << "Recursive directory removal failed!" << std::endl; + case (FsOpCodes::RENAME_FILE): { + // No mount prefix, cause file is created in tmp + cfg.useMountPrefix = false; + if (std::filesystem::exists("/tmp/test.txt")) { + fsHandler->removeDirectory("/tmp/", "test", false, &cfg); + } + sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl; + // Do not delete file, user can check existence in shell + fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); + fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg); + break; } - break; - } - case (FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): { - result = createNonEmptyTmpDir(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return; + case (FsOpCodes::APPEND_TO_FILE): { + // No mount prefix, cause file is created in tmp + cfg.useMountPrefix = false; + if (std::filesystem::exists("/tmp/test.txt")) { + fsHandler->removeDirectory("/tmp/", "test", false, &cfg); + } + if (std::filesystem::exists("/tmp/test.txt")) { + fsHandler->removeDirectory("/tmp/", "test", false, &cfg); + } + sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl; + std::string content = "Hello World\n"; + // Do not delete file, user can check existence in shell + fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); + fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast(content.data()), + content.size(), 0, &cfg); } - result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg); - if (result != HasReturnvaluesIF::RETURN_OK) { - sif::info << "Directory removal attempt failed as expected" << std::endl; - } else { - sif::warning << "Directory removal worked when it should not have!" << std::endl; - } - break; - } - case (FsOpCodes::RENAME_FILE): { - // No mount prefix, cause file is created in tmp - cfg.useMountPrefix = false; - if (std::filesystem::exists("/tmp/test.txt")) { - fsHandler->removeDirectory("/tmp/", "test", false, &cfg); - } - sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl; - // Do not delete file, user can check existence in shell - fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); - fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg); - break; - } - case (FsOpCodes::APPEND_TO_FILE): { - // No mount prefix, cause file is created in tmp - cfg.useMountPrefix = false; - if (std::filesystem::exists("/tmp/test.txt")) { - fsHandler->removeDirectory("/tmp/", "test", false, &cfg); - } - if (std::filesystem::exists("/tmp/test.txt")) { - fsHandler->removeDirectory("/tmp/", "test", false, &cfg); - } - sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl; - std::string content = "Hello World\n"; - // Do not delete file, user can check existence in shell - fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); - fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast(content.data()), - content.size(), 0, &cfg); - } } } diff --git a/bsp_q7s/boardtest/Q7STestTask.h b/bsp_q7s/boardtest/Q7STestTask.h index ad58889f..7fadbe6b 100644 --- a/bsp_q7s/boardtest/Q7STestTask.h +++ b/bsp_q7s/boardtest/Q7STestTask.h @@ -2,6 +2,7 @@ #define BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ #include + #include "test/testtasks/TestTask.h" class CoreController; diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h index a4f3319e..4e9a5e8e 100644 --- a/common/config/commonObjects.h +++ b/common/config/commonObjects.h @@ -65,18 +65,29 @@ enum commonObjects: uint32_t { RTD_IC_17 = 0x44420030, RTD_IC_18 = 0x44420031, - SUS_0 = 0x44120032, - SUS_1 = 0x44120033, - SUS_2 = 0x44120034, - SUS_3 = 0x44120035, - SUS_4 = 0x44120036, - SUS_5 = 0x44120037, - SUS_6 = 0x44120038, - SUS_7 = 0x44120039, - SUS_8 = 0x44120040, - SUS_9 = 0x44120041, - SUS_10 = 0x44120042, - SUS_11 = 0x44120043, + // Name convention for SUS devices + // SUS___LOC_XYZ_PT_ + // LOC: Location + // PT: Pointing + // N/R: Nominal/Redundant + // F/M/B: Forward/Middle/Backwards + SUS_0_N_LOC_XFYFZM_PT_XF = 0x44120032, + SUS_6_R_LOC_XFYBZM_PT_XF = 0x44120038, + + SUS_1_N_LOC_XBYFZM_PT_XB = 0x44120033, + SUS_7_R_LOC_XBYBZM_PT_XB = 0x44120039, + + SUS_2_N_LOC_XFYBZB_PT_YB = 0x44120034, + SUS_8_R_LOC_XBYBZB_PT_YB = 0x44120040, + + SUS_3_N_LOC_XFYBZF_PT_YF = 0x44120035, + SUS_9_R_LOC_XBYBZB_PT_YF = 0x44120041, + + SUS_4_N_LOC_XMYFZF_PT_ZF = 0x44120036, + SUS_10_N_LOC_XMYBZF_PT_ZF = 0x44120042, + + SUS_5_N_LOC_XFYMZB_PT_ZB = 0x44120037, + SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043, GPS_CONTROLLER = 0x44130045, diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp index 23311229..a98c825f 100644 --- a/linux/ObjectFactory.cpp +++ b/linux/ObjectFactory.cpp @@ -70,85 +70,97 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, spiDev, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_0); + susHandlers[0] = + new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_COM_IF, spiCookie); + fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF); susHandlers[0]->setParent(objects::SUS_BOARD_ASS); susHandlers[0]->setCustomFdir(fdir); spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, spiDev, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_1); + susHandlers[1] = + new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_COM_IF, spiCookie); + fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB); susHandlers[1]->setParent(objects::SUS_BOARD_ASS); susHandlers[1]->setCustomFdir(fdir); spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, spiDev, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_2); + susHandlers[2] = + new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_COM_IF, spiCookie); + fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB); susHandlers[2]->setParent(objects::SUS_BOARD_ASS); susHandlers[2]->setCustomFdir(fdir); spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, spiDev, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_3); + susHandlers[3] = + new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_COM_IF, spiCookie); + fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF); susHandlers[3]->setParent(objects::SUS_BOARD_ASS); susHandlers[3]->setCustomFdir(fdir); spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, spiDev, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_4); + susHandlers[4] = + new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_COM_IF, spiCookie); + fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF); susHandlers[4]->setParent(objects::SUS_BOARD_ASS); susHandlers[4]->setCustomFdir(fdir); spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, spiDev, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_5); + susHandlers[5] = + new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_COM_IF, spiCookie); + fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB); susHandlers[5]->setParent(objects::SUS_BOARD_ASS); susHandlers[5]->setCustomFdir(fdir); spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, spiDev, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_6); + susHandlers[6] = + new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_COM_IF, spiCookie); + fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF); susHandlers[6]->setParent(objects::SUS_BOARD_ASS); susHandlers[6]->setCustomFdir(fdir); spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, spiDev, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_7); + susHandlers[7] = + new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_COM_IF, spiCookie); + fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB); susHandlers[7]->setParent(objects::SUS_BOARD_ASS); susHandlers[7]->setCustomFdir(fdir); spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, spiDev, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_8); + susHandlers[8] = + new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_COM_IF, spiCookie); + fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB); susHandlers[8]->setParent(objects::SUS_BOARD_ASS); susHandlers[8]->setCustomFdir(fdir); spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, spiDev, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_9); + susHandlers[9] = + new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_COM_IF, spiCookie); + fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF); susHandlers[9]->setParent(objects::SUS_BOARD_ASS); susHandlers[9]->setCustomFdir(fdir); spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, spiDev, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_10); + susHandlers[10] = + new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_COM_IF, spiCookie); + fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF); susHandlers[10]->setParent(objects::SUS_BOARD_ASS); susHandlers[10]->setCustomFdir(fdir); spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, spiDev, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_11); + susHandlers[11] = + new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_COM_IF, spiCookie); + fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB); susHandlers[11]->setParent(objects::SUS_BOARD_ASS); susHandlers[11]->setCustomFdir(fdir); @@ -163,10 +175,13 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo #endif } } - std::array susIds = {objects::SUS_0, objects::SUS_1, objects::SUS_2, - objects::SUS_3, objects::SUS_4, objects::SUS_5, - objects::SUS_6, objects::SUS_7, objects::SUS_8, - objects::SUS_9, objects::SUS_10, objects::SUS_11}; + std::array susIds = { + objects::SUS_0_N_LOC_XFYFZM_PT_XF, objects::SUS_1_N_LOC_XBYFZM_PT_XB, + objects::SUS_2_N_LOC_XFYBZB_PT_YB, objects::SUS_3_N_LOC_XFYBZF_PT_YF, + objects::SUS_4_N_LOC_XMYFZF_PT_ZF, objects::SUS_5_N_LOC_XFYMZB_PT_ZB, + objects::SUS_6_R_LOC_XFYBZM_PT_XF, objects::SUS_7_R_LOC_XBYBZM_PT_XB, + objects::SUS_8_R_LOC_XBYBZB_PT_YB, objects::SUS_9_R_LOC_XBYBZB_PT_YF, + objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::SUS_11_R_LOC_XBYMZB_PT_ZB}; SusAssHelper susAssHelper = SusAssHelper(susIds); auto susAss = new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper); diff --git a/linux/boardtest/LibgpiodTest.cpp b/linux/boardtest/LibgpiodTest.cpp index 1c8fec5e..66e26e3b 100644 --- a/linux/boardtest/LibgpiodTest.cpp +++ b/linux/boardtest/LibgpiodTest.cpp @@ -29,8 +29,8 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() { sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl; return RETURN_FAILED; } else { - sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << - static_cast(gpioState) << std::endl; + sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " + << static_cast(gpioState) << std::endl; } break; } diff --git a/linux/fsfwconfig/devices/addresses.h b/linux/fsfwconfig/devices/addresses.h index 0016c6a4..ec794490 100644 --- a/linux/fsfwconfig/devices/addresses.h +++ b/linux/fsfwconfig/devices/addresses.h @@ -24,18 +24,18 @@ enum logicalAddresses : address_t { RAD_SENSOR = objects::RAD_SENSOR, - SUS_0 = objects::SUS_0, - SUS_1 = objects::SUS_1, - SUS_2 = objects::SUS_2, - SUS_3 = objects::SUS_3, - SUS_4 = objects::SUS_4, - SUS_5 = objects::SUS_5, - SUS_6 = objects::SUS_6, - SUS_7 = objects::SUS_7, - SUS_8 = objects::SUS_8, - SUS_9 = objects::SUS_9, - SUS_10 = objects::SUS_10, - SUS_11 = objects::SUS_11, + SUS_0 = objects::SUS_0_N_LOC_XFYFZM_PT_XF, + SUS_1 = objects::SUS_1_N_LOC_XBYFZM_PT_XB, + SUS_2 = objects::SUS_2_N_LOC_XFYBZB_PT_YB, + SUS_3 = objects::SUS_3_N_LOC_XFYBZF_PT_YF, + SUS_4 = objects::SUS_4_N_LOC_XMYFZF_PT_ZF, + SUS_5 = objects::SUS_5_N_LOC_XFYMZB_PT_ZB, + SUS_6 = objects::SUS_6_R_LOC_XFYBZM_PT_XF, + SUS_7 = objects::SUS_7_R_LOC_XBYBZM_PT_XB, + SUS_8 = objects::SUS_8_R_LOC_XBYBZB_PT_YB, + SUS_9 = objects::SUS_9_R_LOC_XBYBZB_PT_YF, + SUS_10 = objects::SUS_10_N_LOC_XMYBZF_PT_ZF, + SUS_11 = objects::SUS_11_R_LOC_XBYMZB_PT_ZB, /* Dummy and Test Addresses */ DUMMY_ECHO = 129, diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 02130d6b..1c9ad47e 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -180,153 +180,251 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { if (addSus0) { /* Write setup */ - thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus1) { - thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus2) { - thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus3) { - thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus4) { - thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus5) { - thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus6) { - thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus7) { - thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus8) { - thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus9) { - thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus10) { - thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus11) { - thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::GET_READ); } #endif /* OBSW_ADD_SUN_SENSORS == 1 */