CHANGELOG.md

@@ -17,6 +17,10 @@ change warranting a new major release:
 
 # [unreleased]
 
+## Changed
+
+- Replaced chained locks for polling new sensor data to the `AcsController`
+
 # [v1.26.1] 2023-02-08
 
 - Initialize parameter helper in ACS controller.

mission/controller/AcsController.cpp

@@ -107,8 +107,6 @@ void AcsController::performControlOperation() {
 }
 
 void AcsController::performSafe() {
-  ACS::SensorValues sensorValues;
-
   timeval now;
   Clock::getClock_timeval(&now);
 
@@ -197,8 +195,6 @@ void AcsController::performSafe() {
 }
 
 void AcsController::performDetumble() {
-  ACS::SensorValues sensorValues;
-
   timeval now;
   Clock::getClock_timeval(&now);
 
@@ -258,8 +254,6 @@ void AcsController::performDetumble() {
 }
 
 void AcsController::performPointingCtrl() {
-  ACS::SensorValues sensorValues;
-
   timeval now;
   Clock::getClock_timeval(&now);
 
@@ -721,14 +715,6 @@ void AcsController::copySusData() {
   }
 }
 
-ReturnValue_t AcsController::initialize() {
-  ReturnValue_t result = parameterHelper.initialize();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return ExtendedControllerBase::initialize();
-}
-
 void AcsController::copyGyrData() {
   ACS::SensorValues sensorValues;
   {
@@ -776,3 +762,11 @@ void AcsController::copyGyrData() {
     }
   }
 }
+
+ReturnValue_t AcsController::initialize() {
+  ReturnValue_t result = parameterHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return ExtendedControllerBase::initialize();
+}

mission/controller/AcsController.h

@@ -69,8 +69,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void modeChanged(Mode_t mode, Submode_t submode);
   void announceMode(bool recursive);
 
-  /* ACS Datasets */
+  /* ACS Sensor Values */
   ACS::SensorValues sensorValues;
+
+  /* ACS Datasets */
   IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
   // MGMs
   acsctrl::MgmDataRaw mgmDataRaw;

mission/controller/acs/SensorValues.cpp

@@ -20,61 +20,112 @@ SensorValues::SensorValues() {}
 SensorValues::~SensorValues() {}
 
 ReturnValue_t SensorValues::updateMgm() {
-  ReturnValue_t result;
+  std::vector<ReturnValue_t> results;
-  PoolReadGuard pgMgm0(&mgm0Lis3Set), pgMgm1(&mgm1Rm3100Set), pgMgm2(&mgm2Lis3Set),
-      pgMgm3(&mgm3Rm3100Set), pgImtq(&imtqMgmSet);
 
-  result = (pgMgm0.getReadResult() || pgMgm1.getReadResult() || pgMgm2.getReadResult() ||
+  {
-            pgMgm3.getReadResult() || pgImtq.getReadResult());
+    PoolReadGuard pgMgm(&mgm0Lis3Set);
-  return result;
+    results.push_back(pgMgm.getReadResult());
+  }
+  {
+    PoolReadGuard pgMgm(&mgm1Rm3100Set);
+    results.push_back(pgMgm.getReadResult());
+  }
+  {
+    PoolReadGuard pgMgm(&mgm2Lis3Set);
+    results.push_back(pgMgm.getReadResult());
+  }
+  {
+    PoolReadGuard pgMgm(&mgm3Rm3100Set);
+    results.push_back(pgMgm.getReadResult());
+  }
+  {
+    PoolReadGuard pgMgm(&imtqMgmSet);
+    results.push_back(pgMgm.getReadResult());
+  }
+  for (const auto& result : results) {
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SensorValues::updateSus() {
-  ReturnValue_t result;
+  std::vector<ReturnValue_t> results;
-  PoolReadGuard pgSus0(&susSets[0]), pgSus1(&susSets[1]), pgSus2(&susSets[2]), pgSus3(&susSets[3]),
+  for (auto& susSet : susSets) {
-      pgSus4(&susSets[4]), pgSus5(&susSets[5]), pgSus6(&susSets[6]), pgSus7(&susSets[7]),
+    {
-      pgSus8(&susSets[8]), pgSus9(&susSets[9]), pgSus10(&susSets[10]), pgSus11(&susSets[11]);
+      PoolReadGuard pgSus(&susSet);
-
+      results.push_back(pgSus.getReadResult());
-  result = (pgSus0.getReadResult() || pgSus1.getReadResult() || pgSus2.getReadResult() ||
+    }
-            pgSus3.getReadResult() || pgSus4.getReadResult() || pgSus5.getReadResult() ||
+  }
-            pgSus6.getReadResult() || pgSus7.getReadResult() || pgSus8.getReadResult() ||
+  for (const auto& result : results) {
-            pgSus9.getReadResult() || pgSus10.getReadResult() || pgSus11.getReadResult());
+    if (result != returnvalue::OK) {
-  return result;
+      return result;
+    }
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SensorValues::updateGyr() {
-  ReturnValue_t result;
+  std::vector<ReturnValue_t> results;
-  PoolReadGuard pgGyr0(&gyr0AdisSet), pgGyr1(&gyr1L3gSet), pgGyr2(&gyr2AdisSet),
+  {
-      pgGyr3(&gyr3L3gSet);
+    PoolReadGuard pgGyr(&gyr0AdisSet);
-
+    results.push_back(pgGyr.getReadResult());
-  result = (pgGyr0.getReadResult() || pgGyr1.getReadResult() || pgGyr2.getReadResult() ||
+  }
-            pgGyr3.getReadResult());
+  {
-  return result;
+    PoolReadGuard pgGyr(&gyr1L3gSet);
+    results.push_back(pgGyr.getReadResult());
+  }
+  {
+    PoolReadGuard pgGyr(&gyr2AdisSet);
+    results.push_back(pgGyr.getReadResult());
+  }
+  {
+    PoolReadGuard pgGyr(&gyr3L3gSet);
+    results.push_back(pgGyr.getReadResult());
+  }
+  for (const auto& result : results) {
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SensorValues::updateStr() {
-  ReturnValue_t result;
   PoolReadGuard pgStr(&strSet);
-
+  return pgStr.getReadResult();
-  result = pgStr.getReadResult();
-  return result;
 }
 
 ReturnValue_t SensorValues::updateGps() {
-  ReturnValue_t result;
   PoolReadGuard pgGps(&gpsSet);
-
+  return pgGps.getReadResult();
-  result = pgGps.getReadResult();
-  return result;
 }
 
 ReturnValue_t SensorValues::updateRw() {
-  ReturnValue_t result;
+  std::vector<ReturnValue_t> results;
-  PoolReadGuard pgRw1(&rw1Set), pgRw2(&rw2Set), pgRw3(&rw3Set), pgRw4(&rw4Set);
+  {
-
+    PoolReadGuard pgRw(&rw1Set);
-  result = (pgRw1.getReadResult() || pgRw2.getReadResult() || pgRw3.getReadResult() ||
+    results.push_back(pgRw.getReadResult());
-            pgRw4.getReadResult());
+  }
-  return result;
+  {
+    PoolReadGuard pgRw(&rw2Set);
+    results.push_back(pgRw.getReadResult());
+  }
+  {
+    PoolReadGuard pgRw(&rw3Set);
+    results.push_back(pgRw.getReadResult());
+  }
+  {
+    PoolReadGuard pgRw(&rw4Set);
+    results.push_back(pgRw.getReadResult());
+  }
+  for (const auto& result : results) {
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SensorValues::update() {