eive/eive-obsw
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assign better sus names
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Robin Müller 2022-05-05 16:46:04 +02:00
parent 165963ed2d
commit a232b9bf98
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GPG Key ID: 71B58F8A3CDFA9AC
8 changed files with 404 additions and 280 deletions
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2
bsp_hosted/ObjectFactory.cpp
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@ -7,9 +7,9 @@
#include <objects/systemObjectList.h> #include <objects/systemObjectList.h>
#include <tmtc/apid.h> #include <tmtc/apid.h>
#include <tmtc/pusIds.h> #include <tmtc/pusIds.h>
#include "fsfw_tests/integration/task/TestTask.h"
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "fsfw_tests/integration/task/TestTask.h"
#if OBSW_USE_TMTC_TCP_BRIDGE == 0 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
#include "fsfw/osal/common/UdpTcPollingTask.h" #include "fsfw/osal/common/UdpTcPollingTask.h"

233
bsp_q7s/boardtest/Q7STestTask.cpp
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@ -156,13 +156,13 @@ void Q7STestTask::testDummyParams() {
result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, test); result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, test);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1 sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
<< " does not exist" << std::endl; << " does not exist" << std::endl;
} }
std::string test2; std::string test2;
result = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2, test2); result = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2, test2);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1 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 (3 expected): " << test << std::endl;
sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl; sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl;
@ -172,7 +172,7 @@ ReturnValue_t Q7STestTask::initialize() {
coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER); coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
if (coreController == nullptr) { if (coreController == nullptr) {
sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object" sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object"
<< std::endl; << std::endl;
} }
return TestTask::initialize(); return TestTask::initialize();
} }
@ -182,14 +182,14 @@ void Q7STestTask::testProtHandler() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// If any chips are unlocked, lock them here // If any chips are unlocked, lock them here
result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true, result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true,
opPerformed, true); opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
// unlock own copy // unlock own copy
result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false, result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false,
opPerformed, true); opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
@ -203,7 +203,7 @@ void Q7STestTask::testProtHandler() {
// lock own copy // lock own copy
result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true, result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
opPerformed, true); opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
@ -217,7 +217,7 @@ void Q7STestTask::testProtHandler() {
// unlock specific copy // unlock specific copy
result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false, result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false,
opPerformed, true); opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
@ -231,7 +231,7 @@ void Q7STestTask::testProtHandler() {
// lock specific copy // lock specific copy
result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true, result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true,
opPerformed, true); opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
@ -273,7 +273,7 @@ void Q7STestTask::testGpsDaemonShm() {
} }
void Q7STestTask::testGpsDaemonSocket() { void Q7STestTask::testGpsDaemonSocket() {
if(gpsmmShmPtr == nullptr) { if (gpsmmShmPtr == nullptr) {
gpsmmShmPtr = new gpsmm("localhost", DEFAULT_GPSD_PORT); gpsmmShmPtr = new gpsmm("localhost", DEFAULT_GPSD_PORT);
} }
// The data from the device will generally be read all at once. Therefore, we // The data from the device will generally be read all at once. Therefore, we
@ -283,7 +283,7 @@ void Q7STestTask::testGpsDaemonSocket() {
// Opening failed // Opening failed
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "Q7STestTask::testGpsDaemonSocket: Opening GPSMM failed | " sif::warning << "Q7STestTask::testGpsDaemonSocket: Opening GPSMM failed | "
<< "Error " << errno << " | " << gps_errstr(errno) << std::endl; << "Error " << errno << " | " << gps_errstr(errno) << std::endl;
#endif #endif
gpsNotOpenSwitch = false; gpsNotOpenSwitch = false;
@ -291,17 +291,16 @@ void Q7STestTask::testGpsDaemonSocket() {
return; return;
} }
// Stopwatch watch; // Stopwatch watch;
gps_data_t *gps = nullptr; gps_data_t* gps = nullptr;
gpsmmShmPtr->stream(WATCH_ENABLE | WATCH_JSON); gpsmmShmPtr->stream(WATCH_ENABLE | WATCH_JSON);
if(not gpsmmShmPtr->waiting(50000000)) { if (not gpsmmShmPtr->waiting(50000000)) {
return; return;
} }
gps = gpsmmShmPtr->read(); gps = gpsmmShmPtr->read();
if (gps == nullptr) { if (gps == nullptr) {
if (gpsReadFailedSwitch) { if (gpsReadFailedSwitch) {
gpsReadFailedSwitch = false; gpsReadFailedSwitch = false;
sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed" sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed" << std::endl;
<< std::endl;
} }
return; return;
} }
@ -312,8 +311,8 @@ void Q7STestTask::testGpsDaemonSocket() {
if (noModeSetCntr == 10) { if (noModeSetCntr == 10) {
// TODO: Trigger event here // TODO: Trigger event here
sif::warning << "Q7STestTask::testGpsDaemonSocket: No mode could be " sif::warning << "Q7STestTask::testGpsDaemonSocket: No mode could be "
"read for 10 consecutive reads" "read for 10 consecutive reads"
<< std::endl; << std::endl;
noModeSetCntr = -1; noModeSetCntr = -1;
} }
return; return;
@ -339,7 +338,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER); auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
if (fsHandler == nullptr) { if (fsHandler == nullptr) {
sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.." sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
<< std::endl; << std::endl;
} }
FileSystemHandler::FsCommandCfg cfg = {}; FileSystemHandler::FsCommandCfg cfg = {};
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
@ -366,115 +365,115 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
}; };
switch (opCode) { switch (opCode) {
case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): { case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
// No mount prefix, cause file is created in tmp // No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false; cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl; sif::info << "Creating empty file in /tmp folder" << std::endl;
// Do not delete file, user can check existence in shell // 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;
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
break;
} }
result = fsHandler->removeFile("/tmp", "test.txt", &cfg); case (FsOpCodes::REMOVE_TMP_FILE): {
if (result == HasReturnvaluesIF::RETURN_OK) { sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
sif::info << "File removed successfully" << std::endl; // No mount prefix, cause file is created in tmp
} else { cfg.useMountPrefix = false;
sif::warning << "File removal failed!" << std::endl; 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
case (FsOpCodes::CREATE_DIR_IN_TMP): { cfg.useMountPrefix = false;
// No mount prefix, cause file is created in tmp sif::info << "Creating empty file in /tmp folder" << std::endl;
cfg.useMountPrefix = false; // Do not delete file, user can check existence in shell
sif::info << "Creating empty file in /tmp folder" << std::endl; ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
// Do not delete file, user can check existence in shell if (result == HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg); sif::info << "Directory created successfully" << std::endl;
if (result == HasReturnvaluesIF::RETURN_OK) { } else {
sif::info << "Directory created successfully" << std::endl; sif::warning << "Directory creation failed!" << 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
case (FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): { cfg.useMountPrefix = false;
// No mount prefix, cause file is created in tmp if (not std::filesystem::exists("/tmp/test")) {
cfg.useMountPrefix = false; result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
if (not std::filesystem::exists("/tmp/test")) { } else {
result = fsHandler->createDirectory("/tmp", "test", false, &cfg); // Delete any leftover files to regular dir removal works
} else { std::remove("/tmp/test/*");
// 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); case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
if (result == HasReturnvaluesIF::RETURN_OK) { result = createNonEmptyTmpDir();
sif::info << "Directory removed successfully" << std::endl; if (result != HasReturnvaluesIF::RETURN_OK) {
} else { return;
sif::warning << "Directory removal failed!" << std::endl; }
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::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
} result = createNonEmptyTmpDir();
case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): { if (result != HasReturnvaluesIF::RETURN_OK) {
result = createNonEmptyTmpDir(); return;
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); case (FsOpCodes::RENAME_FILE): {
if (result == HasReturnvaluesIF::RETURN_OK) { // No mount prefix, cause file is created in tmp
sif::info << "Directory removed recursively successfully" << std::endl; cfg.useMountPrefix = false;
} else { if (std::filesystem::exists("/tmp/test.txt")) {
sif::warning << "Recursive directory removal failed!" << std::endl; 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::APPEND_TO_FILE): {
} // No mount prefix, cause file is created in tmp
case (FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): { cfg.useMountPrefix = false;
result = createNonEmptyTmpDir(); if (std::filesystem::exists("/tmp/test.txt")) {
if (result != HasReturnvaluesIF::RETURN_OK) { fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
return; }
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<const uint8_t*>(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<const uint8_t*>(content.data()),
content.size(), 0, &cfg);
}
} }
} }

1
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -2,6 +2,7 @@
#define BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ #define BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
#include <libgpsmm.h> #include <libgpsmm.h>
#include "test/testtasks/TestTask.h" #include "test/testtasks/TestTask.h"
class CoreController; class CoreController;

35
common/config/commonObjects.h
View File

@ -65,18 +65,29 @@ enum commonObjects: uint32_t {
RTD_IC_17 = 0x44420030, RTD_IC_17 = 0x44420030,
RTD_IC_18 = 0x44420031, RTD_IC_18 = 0x44420031,
SUS_0 = 0x44120032, // Name convention for SUS devices
SUS_1 = 0x44120033, // SUS_<IDX>_<N/R>_LOC_X<F/M/B>Y<F/M/B>Z<F/M/B>_PT_<DIR><F/B>
SUS_2 = 0x44120034, // LOC: Location
SUS_3 = 0x44120035, // PT: Pointing
SUS_4 = 0x44120036, // N/R: Nominal/Redundant
SUS_5 = 0x44120037, // F/M/B: Forward/Middle/Backwards
SUS_6 = 0x44120038, SUS_0_N_LOC_XFYFZM_PT_XF = 0x44120032,
SUS_7 = 0x44120039, SUS_6_R_LOC_XFYBZM_PT_XF = 0x44120038,
SUS_8 = 0x44120040,
SUS_9 = 0x44120041, SUS_1_N_LOC_XBYFZM_PT_XB = 0x44120033,
SUS_10 = 0x44120042, SUS_7_R_LOC_XBYBZM_PT_XB = 0x44120039,
SUS_11 = 0x44120043,
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, GPS_CONTROLLER = 0x44130045,

71
linux/ObjectFactory.cpp
View File

@ -70,85 +70,97 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
SpiCookie* spiCookie = SpiCookie* spiCookie =
new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, spiDev, SUS::MAX_CMD_SIZE, new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, spiDev, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie); susHandlers[0] =
fdir = new SusFdir(objects::SUS_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]->setParent(objects::SUS_BOARD_ASS);
susHandlers[0]->setCustomFdir(fdir); susHandlers[0]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, spiDev, SUS::MAX_CMD_SIZE, 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); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie); susHandlers[1] =
fdir = new SusFdir(objects::SUS_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]->setParent(objects::SUS_BOARD_ASS);
susHandlers[1]->setCustomFdir(fdir); susHandlers[1]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, spiDev, SUS::MAX_CMD_SIZE, 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); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie); susHandlers[2] =
fdir = new SusFdir(objects::SUS_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]->setParent(objects::SUS_BOARD_ASS);
susHandlers[2]->setCustomFdir(fdir); susHandlers[2]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, spiDev, SUS::MAX_CMD_SIZE, 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); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie); susHandlers[3] =
fdir = new SusFdir(objects::SUS_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]->setParent(objects::SUS_BOARD_ASS);
susHandlers[3]->setCustomFdir(fdir); susHandlers[3]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, spiDev, SUS::MAX_CMD_SIZE, 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); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie); susHandlers[4] =
fdir = new SusFdir(objects::SUS_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]->setParent(objects::SUS_BOARD_ASS);
susHandlers[4]->setCustomFdir(fdir); susHandlers[4]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, spiDev, SUS::MAX_CMD_SIZE, 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); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie); susHandlers[5] =
fdir = new SusFdir(objects::SUS_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]->setParent(objects::SUS_BOARD_ASS);
susHandlers[5]->setCustomFdir(fdir); susHandlers[5]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, spiDev, SUS::MAX_CMD_SIZE, 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); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie); susHandlers[6] =
fdir = new SusFdir(objects::SUS_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]->setParent(objects::SUS_BOARD_ASS);
susHandlers[6]->setCustomFdir(fdir); susHandlers[6]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, spiDev, SUS::MAX_CMD_SIZE, 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); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie); susHandlers[7] =
fdir = new SusFdir(objects::SUS_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]->setParent(objects::SUS_BOARD_ASS);
susHandlers[7]->setCustomFdir(fdir); susHandlers[7]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, spiDev, SUS::MAX_CMD_SIZE, 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); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie); susHandlers[8] =
fdir = new SusFdir(objects::SUS_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]->setParent(objects::SUS_BOARD_ASS);
susHandlers[8]->setCustomFdir(fdir); susHandlers[8]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, spiDev, SUS::MAX_CMD_SIZE, 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); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie); susHandlers[9] =
fdir = new SusFdir(objects::SUS_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]->setParent(objects::SUS_BOARD_ASS);
susHandlers[9]->setCustomFdir(fdir); susHandlers[9]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, spiDev, SUS::MAX_CMD_SIZE, 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); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie); susHandlers[10] =
fdir = new SusFdir(objects::SUS_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]->setParent(objects::SUS_BOARD_ASS);
susHandlers[10]->setCustomFdir(fdir); susHandlers[10]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, spiDev, SUS::MAX_CMD_SIZE, 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); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie); susHandlers[11] =
fdir = new SusFdir(objects::SUS_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]->setParent(objects::SUS_BOARD_ASS);
susHandlers[11]->setCustomFdir(fdir); susHandlers[11]->setCustomFdir(fdir);
@ -163,10 +175,13 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
#endif #endif
} }
} }
std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1, objects::SUS_2, std::array<object_id_t, 12> susIds = {
objects::SUS_3, objects::SUS_4, objects::SUS_5, objects::SUS_0_N_LOC_XFYFZM_PT_XF, objects::SUS_1_N_LOC_XBYFZM_PT_XB,
objects::SUS_6, objects::SUS_7, objects::SUS_8, objects::SUS_2_N_LOC_XFYBZB_PT_YB, objects::SUS_3_N_LOC_XFYBZF_PT_YF,
objects::SUS_9, objects::SUS_10, objects::SUS_11}; 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); SusAssHelper susAssHelper = SusAssHelper(susIds);
auto susAss = auto susAss =
new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper); new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);

4
linux/boardtest/LibgpiodTest.cpp
View File

@ -29,8 +29,8 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl; sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} else { } else {
sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = "
static_cast<int>(gpioState) << std::endl; << static_cast<int>(gpioState) << std::endl;
} }
break; break;
} }

24
linux/fsfwconfig/devices/addresses.h
View File

@ -24,18 +24,18 @@ enum logicalAddresses : address_t {
RAD_SENSOR = objects::RAD_SENSOR, RAD_SENSOR = objects::RAD_SENSOR,
SUS_0 = objects::SUS_0, SUS_0 = objects::SUS_0_N_LOC_XFYFZM_PT_XF,
SUS_1 = objects::SUS_1, SUS_1 = objects::SUS_1_N_LOC_XBYFZM_PT_XB,
SUS_2 = objects::SUS_2, SUS_2 = objects::SUS_2_N_LOC_XFYBZB_PT_YB,
SUS_3 = objects::SUS_3, SUS_3 = objects::SUS_3_N_LOC_XFYBZF_PT_YF,
SUS_4 = objects::SUS_4, SUS_4 = objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
SUS_5 = objects::SUS_5, SUS_5 = objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
SUS_6 = objects::SUS_6, SUS_6 = objects::SUS_6_R_LOC_XFYBZM_PT_XF,
SUS_7 = objects::SUS_7, SUS_7 = objects::SUS_7_R_LOC_XBYBZM_PT_XB,
SUS_8 = objects::SUS_8, SUS_8 = objects::SUS_8_R_LOC_XBYBZB_PT_YB,
SUS_9 = objects::SUS_9, SUS_9 = objects::SUS_9_R_LOC_XBYBZB_PT_YF,
SUS_10 = objects::SUS_10, SUS_10 = objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
SUS_11 = objects::SUS_11, SUS_11 = objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
/* Dummy and Test Addresses */ /* Dummy and Test Addresses */
DUMMY_ECHO = 129, DUMMY_ECHO = 129,

314
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -180,153 +180,251 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
if (addSus0) { if (addSus0) {
/* Write setup */ /* Write setup */
thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_READ); 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_N_LOC_XFYFZM_PT_XF, length * 0.4,
thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_READ); 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) { if (addSus1) {
thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_READ); 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_N_LOC_XBYFZM_PT_XB, length * 0.4,
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_READ); 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) { if (addSus2) {
thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_READ); 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_N_LOC_XFYBZB_PT_YB, length * 0.4,
thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_READ); 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) { if (addSus3) {
thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_READ); 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_N_LOC_XFYBZF_PT_YF, length * 0.4,
thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_READ); 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) { if (addSus4) {
thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_READ); 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_N_LOC_XMYFZF_PT_ZF, length * 0.4,
thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_READ); 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) { if (addSus5) {
thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_READ); 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_N_LOC_XFYMZB_PT_ZB, length * 0.4,
thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_READ); 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) { if (addSus6) {
thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_READ); 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_R_LOC_XFYBZM_PT_XF, length * 0.4,
thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_READ); 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) { if (addSus7) {
thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_READ); 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_R_LOC_XBYBZM_PT_XB, length * 0.4,
thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_READ); 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) { if (addSus8) {
thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_READ); 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_R_LOC_XBYBZB_PT_YB, length * 0.4,
thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_READ); 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) { if (addSus9) {
thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_READ); 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::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) { if (addSus10) {
thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_READ); 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_N_LOC_XMYBZF_PT_ZF, length * 0.4,
thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_READ); 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) { if (addSus11) {
thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_READ); 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_R_LOC_XBYMZB_PT_ZB, length * 0.4,
thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_READ); 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 */ #endif /* OBSW_ADD_SUN_SENSORS == 1 */