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Final Version of the ACS Controller #367

Merged
muellerr merged 78 commits from eggert/acs into develop 2023-02-08 13:50:11 +01:00
Conversation 1 Commits 78 Files Changed 27 +2011 -1234
27 changed files with 2011 additions and 1234 deletions
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Showing only changes of commit da166c7bc3 - Show all commits

2
linux/devices/GpsHyperionLinuxController.cpp
View File

@@ -157,7 +157,7 @@ bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
}
};
// GPS is off, no point in reading data from GPSD.
if(mode == MODE_OFF) {
if (mode == MODE_OFF) {
return false;
}
if (readMode == ReadModes::SOCKET) {

8
mission/controller/AcsController.cpp
View File

@@ -27,7 +27,7 @@ AcsController::AcsController(object_id_t objectId)
ctrlValData(this),
actuatorCmdData(this) {}
ReturnValue_t AcsController::handleCommandMessage(CommandMessage* message) {
ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
ReturnValue_t result = actionHelper.handleActionMessage(message);
if (result == returnvalue::OK) {
return result;
@@ -42,8 +42,8 @@ ReturnValue_t AcsController::handleCommandMessage(CommandMessage* message) {
MessageQueueId_t AcsController::getCommandQueue() const { return commandQueue->getId(); }
ReturnValue_t AcsController::getParameter(uint8_t domainId, uint8_t parameterId,
ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues,
uint16_t startAtIndex) {
return acsParameters.getParameter(domainId, parameterId, parameterWrapper, newValues,
startAtIndex);
@@ -563,7 +563,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
return INVALID_SUBMODE;
}
} else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
if ((submode < acs::AcsMode::SAFE) or (submode > acs::AcsMode::PTG_TARGET_INERTIAL)) {
if ((submode < acs::AcsMode::SAFE) or (submode > acs::AcsMode::PTG_INERTIAL)) {
return INVALID_SUBMODE;
} else {
return returnvalue::OK;

57
mission/system/tree/acsModeTree.cpp
View File

@@ -55,13 +55,13 @@ auto ACS_TABLE_SAFE_TRANS_0 =
auto ACS_TABLE_SAFE_TRANS_1 =
std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::IDLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_IDLE_TGT =
std::make_pair((acs::AcsMode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_0 =
std::make_pair((acs::AcsMode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_1 =
std::make_pair((acs::AcsMode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
auto ACS_TABLE_PTG_TRANS_0 =
std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
@@ -82,17 +82,17 @@ auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
auto ACS_SEQUENCE_PTG_TARGET_NADIR =
std::make_pair(acs::AcsMode::PTG_NADIR, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::AcsMode::PTG_TARGET_NADIR << 24) | 1,
FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair(
(acs::AcsMode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_TABLE_PTG_TARGET_NADIR_TGT =
std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 =
std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
std::make_pair(acs::AcsMode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair(
(acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair(
(acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT =
std::make_pair((acs::AcsMode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 =
std::make_pair((acs::AcsMode::PTG_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
void satsystem::acs::init() {
ModeListEntry entry;
@@ -291,11 +291,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// Build IDLE target
<<<<<<< HEAD
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
=======
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::IDLE, ACS_TABLE_IDLE_TGT.second);
>>>>>>> origin/develop
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
@@ -311,11 +307,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
// Build IDLE transition 1
<<<<<<< HEAD
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_IDLE, ACS_TABLE_IDLE_TRANS_1.second);
=======
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::IDLE, ACS_TABLE_IDLE_TRANS_1.second);
>>>>>>> origin/develop
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TRANS_1.second);
ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
// Build IDLE sequence
@@ -358,8 +350,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
ACS_TABLE_PTG_TARGET_TRANS_1.second);
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second);
check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
true),
ctxc);
@@ -407,11 +398,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
<<<<<<< HEAD
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_NADIR,
=======
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_NADIR,
>>>>>>> origin/develop
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_NADIR,
ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first,
&ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)),
@@ -497,11 +484,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
<<<<<<< HEAD
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_INERTIAL,
=======
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_INERTIAL,
>>>>>>> origin/develop
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_INERTIAL,
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
@@ -514,11 +497,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
<<<<<<< HEAD
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_INERTIAL,
=======
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_INERTIAL,
>>>>>>> origin/develop
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_INERTIAL,
ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
&ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),