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First Version of ACS Controller #329

Merged
muellerr merged 106 commits from acs-ctrl-v1 into develop 2022-12-02 16:21:58 +01:00
Conversation 0 Commits 106 Files Changed 50 +115 -3
3 changed files with 115 additions and 3 deletions
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83
mission/controller/AcsController.cpp
View File

@ -3,7 +3,7 @@
#include <fsfw/datapool/PoolReadGuard.h>
AcsController::AcsController(object_id_t objectId)
: ExtendedControllerBase(objectId, objects::NO_OBJECT), mgmData(this) {}
: ExtendedControllerBase(objectId, objects::NO_OBJECT), mgmData(this), susData(this) {}
ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
return returnvalue::OK;
@ -35,6 +35,12 @@ void AcsController::performControlOperation() {
copyMgmData();
}
}
{
PoolReadGuard pg(&susData);
if (pg.getReadResult() == returnvalue::OK) {
copySusData();
}
}
}
ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@ -94,3 +100,78 @@ void AcsController::copyMgmData() {
}
}
}
void AcsController::copySusData() {
{
PoolReadGuard pg(&susSets[0]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susData.sus0.value, susSets[0].channels.value, 6 * sizeof(uint16_t));
}
}
{
PoolReadGuard pg(&susSets[1]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susData.sus1.value, susSets[1].channels.value, 6 * sizeof(uint16_t));
}
}
{
PoolReadGuard pg(&susSets[2]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susData.sus2.value, susSets[2].channels.value, 6 * sizeof(uint16_t));
}
}
{
PoolReadGuard pg(&susSets[3]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susData.sus3.value, susSets[3].channels.value, 6 * sizeof(uint16_t));
}
}
{
PoolReadGuard pg(&susSets[4]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susData.sus4.value, susSets[4].channels.value, 6 * sizeof(uint16_t));
}
}
{
PoolReadGuard pg(&susSets[5]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susData.sus5.value, susSets[5].channels.value, 6 * sizeof(uint16_t));
}
}
{
PoolReadGuard pg(&susSets[6]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susData.sus6.value, susSets[6].channels.value, 6 * sizeof(uint16_t));
}
}
{
PoolReadGuard pg(&susSets[7]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susData.sus7.value, susSets[7].channels.value, 6 * sizeof(uint16_t));
}
}
{
PoolReadGuard pg(&susSets[8]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susData.sus8.value, susSets[8].channels.value, 6 * sizeof(uint16_t));
}
}
{
PoolReadGuard pg(&susSets[9]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susData.sus9.value, susSets[9].channels.value, 6 * sizeof(uint16_t));
}
}
{
PoolReadGuard pg(&susSets[10]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susData.sus10.value, susSets[10].channels.value, 6 * sizeof(uint16_t));
}
}
{
PoolReadGuard pg(&susSets[11]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susData.sus11.value, susSets[11].channels.value, 6 * sizeof(uint16_t));
}
}
}

18
mission/controller/AcsController.h
View File

@ -55,6 +55,9 @@ class AcsController : public ExtendedControllerBase {
void copyMgmData();
// Sun Sensors
acsctrl::SusDataRaw susData;
std::array<SUS::SusDataset, 12> susSets{
SUS::SusDataset(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
SUS::SusDataset(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
@ -70,6 +73,21 @@ class AcsController : public ExtendedControllerBase {
SUS::SusDataset(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
};
PoolEntry<uint16_t> sus0PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus1PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus2PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus3PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus4PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus5PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus6PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus7PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus8PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus9PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus10PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus11PoolVec = PoolEntry<uint16_t>(6);
void copySusData();
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(INIT_DELAY);
};

17
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
View File

@ -60,9 +60,22 @@ class MgmDataRaw : public StaticLocalDataSet<MGM_SET_ENTRIES> {
private:
};
class SusData : public StaticLocalDataSet<SUS_SET_ENTRIES> {
class SusDataRaw : public StaticLocalDataSet<SUS_SET_ENTRIES> {
public:
SusData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_SENSOR_DATA) {}
SusDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_SENSOR_DATA) {}
lp_vec_t<uint16_t, 6> sus0 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_0_N_LOC_XFYFZM_PT_XF, this);
lp_vec_t<uint16_t, 6> sus1 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_1_N_LOC_XBYFZM_PT_XB, this);
lp_vec_t<uint16_t, 6> sus2 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_2_N_LOC_XFYBZB_PT_YB, this);
lp_vec_t<uint16_t, 6> sus3 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_3_N_LOC_XFYBZF_PT_YF, this);
lp_vec_t<uint16_t, 6> sus4 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_4_N_LOC_XMYFZF_PT_ZF, this);
lp_vec_t<uint16_t, 6> sus5 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_5_N_LOC_XFYMZB_PT_ZB, this);
lp_vec_t<uint16_t, 6> sus6 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_6_R_LOC_XFYBZM_PT_XF, this);
lp_vec_t<uint16_t, 6> sus7 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_7_R_LOC_XBYBZM_PT_XB, this);
lp_vec_t<uint16_t, 6> sus8 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_8_R_LOC_XBYBZB_PT_YB, this);
lp_vec_t<uint16_t, 6> sus9 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_9_R_LOC_XBYBZB_PT_YF, this);
lp_vec_t<uint16_t, 6> sus10 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_10_N_LOC_XMYBZF_PT_ZF, this);
lp_vec_t<uint16_t, 6> sus11 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_11_R_LOC_XBYMZB_PT_ZB, this);
private:
};