eive/eive-obsw
eive/eive-obsw
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check children state on implementation
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Robin Müller 2022-03-03 10:28:55 +01:00
parent 5255e7d2ed
commit c7183b730e
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GPG Key ID: 71B58F8A3CDFA9AC
2 changed files with 97 additions and 65 deletions
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161
mission/system/AcsBoardAssembly.cpp
View File

@ -29,15 +29,7 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
if (currentMode == mode and submode == currentSubmode) {
return result;
}
helper.gyro0SideAMode = childrenMap[helper.gyro0AdisIdSideA].mode;
helper.gyro1SideAMode = childrenMap[helper.gyro1L3gIdSideA].mode;
helper.gyro2SideBMode = childrenMap[helper.gyro2AdisIdSideB].mode;
helper.gyro3SideBMode = childrenMap[helper.gyro2AdisIdSideB].mode;
helper.mgm0SideAMode = childrenMap[helper.mgm0Lis3IdSideA].mode;
helper.mgm1SideAMode = childrenMap[helper.mgm1Rm3100IdSideA].mode;
helper.mgm2SideBMode = childrenMap[helper.mgm2Lis3IdSideB].mode;
helper.mgm3SideBMode = childrenMap[helper.mgm3Rm3100IdSideB].mode;
helper.gpsMode = childrenMap[helper.gpsId].mode;
refreshHelperModes();
if (state == States::MODE_COMMANDING) {
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
powerStateMachine(submode);
@ -70,45 +62,34 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
}
ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
refreshHelperModes();
if(wantedSubmode == A_SIDE) {
if((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
helper.gpsMode != wantedMode) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return RETURN_OK;
} else if (wantedSubmode == B_SIDE) {
if((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
(helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
helper.gpsMode != wantedMode) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return RETURN_OK;
} else if(wantedSubmode == DUAL_MODE) {
if((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode and
helper.gyro2AdisIdSideB != wantedMode and helper.gyro3SideBMode != wantedMode) or
(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode and
helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
helper.gpsMode != wantedMode) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return RETURN_OK;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AcsBoardAssembly::initialize() {
ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.gyro1L3gIdSideA);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.gyro2AdisIdSideB);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.gyro3L3gIdSideB);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.mgm0Lis3IdSideA);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.mgm1Rm3100IdSideA);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.mgm2Lis3IdSideB);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.mgm3Rm3100IdSideB);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
void AcsBoardAssembly::initModeTableEntry(object_id_t id, ModeListEntry& entry) {
modeTable.insert(entry);
entry.setObject(id);
@ -117,26 +98,6 @@ void AcsBoardAssembly::initModeTableEntry(object_id_t id, ModeListEntry& entry)
entry.setInheritSubmode(false);
}
ReturnValue_t AcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
return HasReturnvaluesIF::RETURN_OK;
}
bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
if (healthHelper.healthTable->isFaulty(object)) {
return false;
}
// Check if device is already in target mode
if (childrenMap[object].mode == mode) {
return true;
}
if (healthHelper.healthTable->isCommandable(object)) {
return true;
}
return false;
}
ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
Mode_t tgtMode = DeviceHandlerIF::MODE_NORMAL;
@ -275,3 +236,73 @@ void AcsBoardAssembly::powerStateMachine(Submode_t submode) {
// TODO: Could check for a timeout (temporal or cycles) here and resend command
}
}
ReturnValue_t AcsBoardAssembly::initialize() {
ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.gyro1L3gIdSideA);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.gyro2AdisIdSideB);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.gyro3L3gIdSideB);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.mgm0Lis3IdSideA);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.mgm1Rm3100IdSideA);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.mgm2Lis3IdSideB);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(helper.mgm3Rm3100IdSideB);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
ReturnValue_t AcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if(submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
if (healthHelper.healthTable->isFaulty(object)) {
return false;
}
// Check if device is already in target mode
if (childrenMap[object].mode == mode) {
return true;
}
if (healthHelper.healthTable->isCommandable(object)) {
return true;
}
return false;
}
void AcsBoardAssembly::refreshHelperModes() {
helper.gyro0SideAMode = childrenMap[helper.gyro0AdisIdSideA].mode;
helper.gyro1SideAMode = childrenMap[helper.gyro1L3gIdSideA].mode;
helper.gyro2SideBMode = childrenMap[helper.gyro2AdisIdSideB].mode;
helper.gyro3SideBMode = childrenMap[helper.gyro2AdisIdSideB].mode;
helper.mgm0SideAMode = childrenMap[helper.mgm0Lis3IdSideA].mode;
helper.mgm1SideAMode = childrenMap[helper.mgm1Rm3100IdSideA].mode;
helper.mgm2SideBMode = childrenMap[helper.mgm2Lis3IdSideB].mode;
helper.mgm3SideBMode = childrenMap[helper.mgm3Rm3100IdSideB].mode;
}

1
mission/system/AcsBoardAssembly.h
View File

@ -93,6 +93,7 @@ class AcsBoardAssembly : public AssemblyBase {
bool isUseable(object_id_t object, Mode_t mode);
ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
void powerStateMachine(Submode_t submode);
void refreshHelperModes();
};
#endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */