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Merge remote-tracking branch 'origin/develop' into thermal_controller
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This commit is contained in:
Robin Müller
2023-03-31 19:18:05 +02:00
parent def7eca2f2 013692cc41
commit d1775a52aa
71 changed files with 1337 additions and 655 deletions
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12
mission/system/acs/AcsBoardAssembly.h
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@ -12,7 +12,7 @@
struct AcsBoardHelper {
AcsBoardHelper(object_id_t mgm0Id, object_id_t mgm1Id, object_id_t mgm2Id, object_id_t mgm3Id,
object_id_t gyro0Id, object_id_t gyro1Id, object_id_t gyro2Id, object_id_t gyro3Id,
object_id_t gpsId)
object_id_t gpsId, object_id_t gps0HealthDev, object_id_t gps1HealthDev)
: mgm0Lis3IdSideA(mgm0Id),
mgm1Rm3100IdSideA(mgm1Id),
mgm2Lis3IdSideB(mgm2Id),
@ -35,6 +35,9 @@ struct AcsBoardHelper {
object_id_t gpsId = objects::NO_OBJECT;
object_id_t healthDevGps0 = objects::NO_OBJECT;
object_id_t healthDevGps1 = objects::NO_OBJECT;
Mode_t gyro0SideAMode = HasModesIF::MODE_OFF;
Mode_t gyro1SideAMode = HasModesIF::MODE_OFF;
Mode_t gyro2SideBMode = HasModesIF::MODE_OFF;
@ -91,6 +94,11 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
//! desired mode/submode combination
static constexpr Event SIDE_SWITCH_TRANSITION_NOT_ALLOWED =
event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
//! [EXPORT] : [COMMENT] This is triggered when the assembly would have normally switched
//! the board side, but the GPS device of the other side was marked faulty.
//! P1: Current submode.
static constexpr Event DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY =
event::makeEvent(SUBSYSTEM_ID, 4, severity::MEDIUM);
static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
@ -120,6 +128,8 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
void handleChildrenLostMode(ReturnValue_t result) override;
ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
void refreshHelperModes();