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Merge remote-tracking branch 'origin/mueller/acs-ss-init' into mueller/pl-ss
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This commit is contained in:
Robin Müller
2022-10-17 10:52:05 +02:00
parent aa86bc722f ed7bba2cf5
commit d190165bf3
200 changed files with 4986 additions and 2265 deletions
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49
mission/system/objects/AcsBoardAssembly.cpp
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@ -6,11 +6,10 @@
#include "OBSWConfig.h"
AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
PowerSwitchIF* switcher, AcsBoardHelper helper, GpioIF* gpioIF)
: DualLaneAssemblyBase(objectId, parentId, switcher, SWITCH_A, SWITCH_B,
POWER_STATE_MACHINE_TIMEOUT, SIDE_SWITCH_TRANSITION_NOT_ALLOWED,
TRANSITION_OTHER_SIDE_FAILED),
AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, PowerSwitchIF* switcher,
AcsBoardHelper helper, GpioIF* gpioIF)
: DualLaneAssemblyBase(objectId, switcher, SWITCH_A, SWITCH_B, POWER_STATE_MACHINE_TIMEOUT,
SIDE_SWITCH_TRANSITION_NOT_ALLOWED, TRANSITION_OTHER_SIDE_FAILED),
helper(helper),
gpioIF(gpioIF) {
if (switcher == nullptr) {
@ -275,42 +274,4 @@ void AcsBoardAssembly::refreshHelperModes() {
}
}
ReturnValue_t AcsBoardAssembly::initialize() {
ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.gyro1L3gIdSideA);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.gyro2AdisIdSideB);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.gyro3L3gIdSideB);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.mgm0Lis3IdSideA);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.mgm1Rm3100IdSideA);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.mgm2Lis3IdSideB);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.mgm3Rm3100IdSideB);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.gpsId);
if (result != returnvalue::OK) {
return result;
}
return AssemblyBase::initialize();
}
ReturnValue_t AcsBoardAssembly::initialize() { return AssemblyBase::initialize(); }

6
mission/system/objects/AcsBoardAssembly.h
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@ -1,13 +1,13 @@
#ifndef MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
#define MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
#include <common/config/commonSubsystemIds.h>
#include <devices/powerSwitcherList.h>
#include <fsfw/objectmanager/frameworkObjects.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include "DualLaneAssemblyBase.h"
#include "DualLanePowerStateMachine.h"
#include "eive/eventSubsystemIds.h"
struct AcsBoardHelper {
AcsBoardHelper(object_id_t mgm0Id, object_id_t mgm1Id, object_id_t mgm2Id, object_id_t mgm3Id,
@ -94,8 +94,8 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
AcsBoardHelper helper, GpioIF* gpioIF);
AcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, AcsBoardHelper helper,
GpioIF* gpioIF);
/**
* In dual mode, the A side or the B side GPS device can be used, but not both.

6
mission/system/objects/AcsSubsystem.cpp
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@ -1,5 +1,5 @@
#include "AcsSubsystem.h"
AcsSubsystem::AcsSubsystem(object_id_t setObjectId, object_id_t parent,
uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
: Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}
AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}

3
mission/system/objects/AcsSubsystem.h
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@ -5,8 +5,7 @@
class AcsSubsystem : public Subsystem {
public:
AcsSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables);
AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
private:
};

27
mission/system/objects/CMakeLists.txt
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@ -1,14 +1,13 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE
EiveSystem.cpp
AcsSubsystem.cpp
ComSubsystem.cpp
PayloadSubsystem.cpp
AcsBoardAssembly.cpp
SusAssembly.cpp
RwAssembly.cpp
DualLanePowerStateMachine.cpp
PowerStateMachineBase.cpp
DualLaneAssemblyBase.cpp
TcsBoardAssembly.cpp
)
target_sources(
${LIB_EIVE_MISSION}
PRIVATE EiveSystem.cpp
AcsSubsystem.cpp
ComSubsystem.cpp
PayloadSubsystem.cpp
AcsBoardAssembly.cpp
SusAssembly.cpp
RwAssembly.cpp
DualLanePowerStateMachine.cpp
PowerStateMachineBase.cpp
DualLaneAssemblyBase.cpp
TcsBoardAssembly.cpp)

6
mission/system/objects/ComSubsystem.cpp
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@ -1,5 +1,5 @@
#include "ComSubsystem.h"
ComSubsystem::ComSubsystem(object_id_t setObjectId, object_id_t parent,
uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
: Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}
ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}

3
mission/system/objects/ComSubsystem.h
View File

@ -5,8 +5,7 @@
class ComSubsystem : public Subsystem {
public:
ComSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables);
ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
private:
};

9
mission/system/objects/DualLaneAssemblyBase.cpp
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@ -4,12 +4,11 @@
#include "OBSWConfig.h"
DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId,
PowerSwitchIF* pwrSwitcher, pcdu::Switches switch1,
pcdu::Switches switch2, Event pwrTimeoutEvent,
Event sideSwitchNotAllowedEvent,
DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
pcdu::Switches switch1, pcdu::Switches switch2,
Event pwrTimeoutEvent, Event sideSwitchNotAllowedEvent,
Event transitionOtherSideFailedEvent)
: AssemblyBase(objectId, parentId, 20),
: AssemblyBase(objectId, 20),
pwrStateMachine(switch1, switch2, pwrSwitcher),
pwrTimeoutEvent(pwrTimeoutEvent),
sideSwitchNotAllowedEvent(sideSwitchNotAllowedEvent),

4
mission/system/objects/DualLaneAssemblyBase.h
View File

@ -18,8 +18,8 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
static constexpr UniqueEventId_t POWER_STATE_MACHINE_TIMEOUT_ID = 2;
static constexpr UniqueEventId_t SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID = 3;
DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
pcdu::Switches switch1, pcdu::Switches switch2, Event pwrSwitchTimeoutEvent,
DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher, pcdu::Switches switch1,
pcdu::Switches switch2, Event pwrSwitchTimeoutEvent,
Event sideSwitchNotAllowedEvent, Event transitionOtherSideFailedEvent);
protected:

4
mission/system/objects/EiveSystem.cpp
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@ -1,5 +1,5 @@
#include "EiveSystem.h"
EiveSystem::EiveSystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}

3
mission/system/objects/EiveSystem.h
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@ -5,8 +5,7 @@
class EiveSystem : public Subsystem {
public:
EiveSystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables);
EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
private:
};

6
mission/system/objects/PayloadSubsystem.cpp
View File

@ -1,5 +1,5 @@
#include "PayloadSubsystem.h"
PayloadSubsystem::PayloadSubsystem(object_id_t setObjectId, object_id_t parent,
uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
: Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}
PayloadSubsystem::PayloadSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}

2
mission/system/objects/PayloadSubsystem.h
View File

@ -5,7 +5,7 @@
class PayloadSubsystem : public Subsystem {
public:
PayloadSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
PayloadSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables);
private:

17
mission/system/objects/RwAssembly.cpp
View File

@ -1,8 +1,8 @@
#include "RwAssembly.h"
RwAssembly::RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
power::Switch_t switcher, RwHelper helper)
: AssemblyBase(objectId, parentId), helper(helper), switcher(pwrSwitcher, switcher) {
RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
RwHelper helper)
: AssemblyBase(objectId), helper(helper), switcher(pwrSwitcher, switcher) {
ModeListEntry entry;
for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
entry.setObject(helper.rwIds[idx]);
@ -167,16 +167,7 @@ bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
return false;
}
ReturnValue_t RwAssembly::initialize() {
ReturnValue_t result = returnvalue::OK;
for (const auto& obj : helper.rwIds) {
result = registerChild(obj);
if (result != returnvalue::OK) {
return result;
}
}
return SubsystemBase::initialize();
}
ReturnValue_t RwAssembly::initialize() { return SubsystemBase::initialize(); }
void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
if (targetMode == MODE_OFF) {

4
mission/system/objects/RwAssembly.h
View File

@ -12,8 +12,8 @@ struct RwHelper {
class RwAssembly : public AssemblyBase {
public:
RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
power::Switch_t switcher, RwHelper helper);
RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
RwHelper helper);
private:
static constexpr uint8_t NUMBER_RWS = 4;

16
mission/system/objects/SusAssembly.cpp
View File

@ -4,9 +4,8 @@
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/serviceinterface.h>
SusAssembly::SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
SusAssHelper helper)
: DualLaneAssemblyBase(objectId, parentId, pwrSwitcher, SWITCH_NOM, SWITCH_RED,
SusAssembly::SusAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, SusAssHelper helper)
: DualLaneAssemblyBase(objectId, pwrSwitcher, SWITCH_NOM, SWITCH_RED,
POWER_STATE_MACHINE_TIMEOUT, SIDE_SWITCH_TRANSITION_NOT_ALLOWED,
TRANSITION_OTHER_SIDE_FAILED),
helper(helper),
@ -121,16 +120,7 @@ ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wan
return returnvalue::OK;
}
ReturnValue_t SusAssembly::initialize() {
ReturnValue_t result = returnvalue::OK;
for (const auto& id : helper.susIds) {
result = registerChild(id);
if (result != returnvalue::OK) {
return result;
}
}
return AssemblyBase::initialize();
}
ReturnValue_t SusAssembly::initialize() { return AssemblyBase::initialize(); }
bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {
if (healthHelper.healthTable->isFaulty(object)) {

5
mission/system/objects/SusAssembly.h
View File

@ -5,6 +5,8 @@
#include <fsfw/devicehandlers/AssemblyBase.h>
#include "DualLaneAssemblyBase.h"
#include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h"
struct SusAssHelper {
public:
@ -38,8 +40,7 @@ class SusAssembly : public DualLaneAssemblyBase {
static constexpr Event SIDE_SWITCH_TRANSITION_NOT_ALLOWED =
event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
SusAssHelper helper);
SusAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, SusAssHelper helper);
private:
enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;

18
mission/system/objects/TcsBoardAssembly.cpp
View File

@ -3,10 +3,9 @@
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/ipc/QueueFactory.h>
TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, object_id_t parentId,
PowerSwitchIF* pwrSwitcher, power::Switch_t theSwitch,
TcsBoardHelper helper)
: AssemblyBase(objectId, parentId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
power::Switch_t theSwitch, TcsBoardHelper helper)
: AssemblyBase(objectId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
eventQueue = QueueFactory::instance()->createMessageQueue(24);
ModeListEntry entry;
for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
@ -90,16 +89,7 @@ ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
return HasModesIF::INVALID_MODE;
}
ReturnValue_t TcsBoardAssembly::initialize() {
ReturnValue_t result = returnvalue::OK;
for (const auto& obj : helper.rtdInfos) {
result = registerChild(obj.first);
if (result != returnvalue::OK) {
return result;
}
}
return SubsystemBase::initialize();
}
ReturnValue_t TcsBoardAssembly::initialize() { return AssemblyBase::initialize(); }
void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
if (mode != MODE_OFF) {

7
mission/system/objects/TcsBoardAssembly.h
View File

@ -5,6 +5,9 @@
#include <fsfw/devicehandlers/AssemblyBase.h>
#include <fsfw/power/PowerSwitcher.h>
#include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h"
struct TcsBoardHelper {
TcsBoardHelper(std::array<std::pair<object_id_t, std::string>, 16> rtdInfos)
: rtdInfos(std::move(rtdInfos)) {}
@ -17,8 +20,8 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_BOARD_ASS;
static constexpr Event CHILDREN_LOST_MODE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
TcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
power::Switch_t switcher, TcsBoardHelper helper);
TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
TcsBoardHelper helper);
ReturnValue_t initialize() override;