From e3389c32a7e680a43c0070f598d4ad611acdc80d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Mar 2023 13:56:51 +0100 Subject: [PATCH 1/9] API change setInheritSubmode --- fsfw | 2 +- mission/system/objects/DualLaneAssemblyBase.h | 1 - mission/system/objects/RwAssembly.cpp | 1 - mission/system/objects/TcsBoardAssembly.cpp | 1 - 4 files changed, 1 insertion(+), 4 deletions(-) diff --git a/fsfw b/fsfw index e9d9f446..2745b208 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit e9d9f446053699a91d89250910cc0d59d05fbe6b +Subproject commit 2745b2080dc9c53ef6699c844ba1d000351d07ba diff --git a/mission/system/objects/DualLaneAssemblyBase.h b/mission/system/objects/DualLaneAssemblyBase.h index ca73d53c..a8a2f521 100644 --- a/mission/system/objects/DualLaneAssemblyBase.h +++ b/mission/system/objects/DualLaneAssemblyBase.h @@ -96,7 +96,6 @@ inline void DualLaneAssemblyBase::initModeTableEntry( entry.setObject(id); entry.setMode(MODE_OFF); entry.setSubmode(SUBMODE_NONE); - entry.setInheritSubmode(false); modeTable.insert(entry); } diff --git a/mission/system/objects/RwAssembly.cpp b/mission/system/objects/RwAssembly.cpp index 886ec5ce..ce90f4f5 100644 --- a/mission/system/objects/RwAssembly.cpp +++ b/mission/system/objects/RwAssembly.cpp @@ -8,7 +8,6 @@ RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power:: entry.setObject(helper.rwIds[idx]); entry.setMode(MODE_OFF); entry.setSubmode(SUBMODE_NONE); - entry.setInheritSubmode(false); modeTable.insert(entry); } } diff --git a/mission/system/objects/TcsBoardAssembly.cpp b/mission/system/objects/TcsBoardAssembly.cpp index 88075fdc..f3553a38 100644 --- a/mission/system/objects/TcsBoardAssembly.cpp +++ b/mission/system/objects/TcsBoardAssembly.cpp @@ -12,7 +12,6 @@ TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitc entry.setObject(helper.rtdInfos[idx].first); entry.setMode(MODE_OFF); entry.setSubmode(SUBMODE_NONE); - entry.setInheritSubmode(false); modeTable.insert(entry); } } -- 2.34.1 From bf7e4b4b8cd2cd3729ec3c86dd39b8ec26a312f9 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Mar 2023 14:20:42 +0100 Subject: [PATCH 2/9] changelog --- CHANGELOG.md | 9 +++ mission/system/tree/acsModeTree.cpp | 102 +++++++++++++++++----------- 2 files changed, 72 insertions(+), 39 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index b08ae006..3a1b9316 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -16,6 +16,15 @@ will consitute of a breaking change warranting a new major release: # [unreleased] +## Fixed + +- Allow arbitrary submodes for dual lane boards to avoid FDIR reactions of subsystem components. + Bump FSFW to allow this. + +## Changed + +- Fast ACS subsystem commanding: Command SUS board consecutively with other devices now + # [v1.35.1] 2023-03-04 ## Fixed diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index a743bb87..adcc0e01 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -6,8 +6,11 @@ #include #include +#include + #include "eive/objects.h" #include "mission/acsDefs.h" +#include "mission/system/objects/definitions.h" #include "util.h" AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24); @@ -100,16 +103,20 @@ Subsystem& satsystem::acs::init() { ModeListEntry entry; const char* ctxc = "satsystem::acs::init: generic target"; // Insert Helper Table - auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList& table) { + auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList& table, + bool allowAllSubmodes = false) { entry.setObject(obj); entry.setMode(mode); entry.setSubmode(submode); + if (allowAllSubmodes) { + entry.allowAllSubmodes(); + } check(table.insert(entry), "satsystem::acs::init: generic target"); }; // Build TARGET PT transition 0 iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second); + iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true); + iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second); check(ACS_SUBSYSTEM.addTable( @@ -117,7 +124,7 @@ Subsystem& satsystem::acs::init() { ctxc); // Build SUS board transition - iht(objects::SUS_BOARD_ASS, NML, 0, SUS_BOARD_NML_TRANS.second); + iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, SUS_BOARD_NML_TRANS.second, true); check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)), ctxc); @@ -182,10 +189,13 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { auto ctxc = context.c_str(); // Insert Helper Table auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, - ArrayList& sequence) { + ArrayList& sequence, bool allowAllSubmodes = false) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); + if (allowAllSubmodes) { + eh.allowAllSubmodes(); + } check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence @@ -199,13 +209,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { // Build SAFE target iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second); + iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true); + iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true); check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc); // Build SAFE transition 0 iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); + iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true); + iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true), @@ -220,7 +231,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { // Build SAFE sequence ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true); - ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false); + // ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false); ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false); ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false); check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first, @@ -233,10 +244,13 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) { auto ctxc = context.c_str(); // Insert Helper Table auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, - ArrayList& sequence) { + ArrayList& sequence, bool allowAllSubmodes = false) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); + if (allowAllSubmodes) { + eh.allowAllSubmodes(); + } check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence @@ -250,17 +264,15 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) { // Build DETUMBLE target iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); + iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true); + iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true); check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true), ctxc); - // SUS board transition table is defined above - // Build DETUMBLE transition 0 iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); + iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true); + iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false, @@ -275,7 +287,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) { // Build DETUMBLE sequence ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true); - ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false); + // ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false); check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first, @@ -288,10 +300,13 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { auto ctxc = context.c_str(); // Insert Helper Table auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, - ArrayList& sequence) { + ArrayList& sequence, bool allowAllSubmodes = false) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); + if (allowAllSubmodes) { + eh.allowAllSubmodes(); + } check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence @@ -306,16 +321,14 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second); + iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true); + iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true); ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true); - // SUS board transition table is built above - // Build IDLE transition 0 iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); + iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true); + iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true); @@ -326,7 +339,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { // Build IDLE sequence ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true); - ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.first, 0, true); + // ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.first, 0, true); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true); ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false, @@ -338,10 +351,13 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { auto ctxc = context.c_str(); // Insert Helper Table auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, - ArrayList& sequence) { + ArrayList& sequence, bool allowAllSubmodes = false) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); + if (allowAllSubmodes) { + eh.allowAllSubmodes(); + } check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence @@ -356,14 +372,13 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { // Build TARGET PT table iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); + iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true); + iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true), ctxc); - // SUS board transition table is built above // 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); @@ -373,7 +388,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { // Build IDLE sequence ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true); - ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true); + // ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true); check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first, @@ -386,10 +401,13 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) { auto ctxc = context.c_str(); // Insert Helper Table auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, - ArrayList& sequence) { + ArrayList& sequence, bool allowAllSubmodes = false) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); + if (allowAllSubmodes) { + eh.allowAllSubmodes(); + } check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence @@ -405,8 +423,8 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); + iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true); + iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first, @@ -437,10 +455,13 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) { auto ctxc = context.c_str(); // Insert Helper Table auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, - ArrayList& sequence) { + ArrayList& sequence, bool allowAllSubmodes = false) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); + if (allowAllSubmodes) { + eh.allowAllSubmodes(); + } check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence @@ -456,8 +477,8 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); + iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true); + iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); check(ss.addTable( @@ -487,10 +508,13 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) { auto ctxc = context.c_str(); // Insert Helper Table auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, - ArrayList& sequence) { + ArrayList& sequence, bool allowAllSubmodes) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); + if (allowAllSubmodes) { + eh.allowAllSubmodes(); + } check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence @@ -506,8 +530,8 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_INERTIAL, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); + iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true); + iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, -- 2.34.1 From 51317782c3c55ac9d66d9162febeeef037da745e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Mar 2023 16:03:47 +0100 Subject: [PATCH 3/9] small bugfix --- fsfw | 2 +- mission/system/tree/acsModeTree.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/fsfw b/fsfw index 2745b208..4c486681 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 2745b2080dc9c53ef6699c844ba1d000351d07ba +Subproject commit 4c48668125de7a43cb42b8513cada73c2fe3ffbd diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index adcc0e01..d767b617 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -508,7 +508,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) { auto ctxc = context.c_str(); // Insert Helper Table auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, - ArrayList& sequence, bool allowAllSubmodes) { + ArrayList& sequence, bool allowAllSubmodes = false) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); -- 2.34.1 From cb43688f3818a9032f486b6630447c1a91ae37ae Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Mar 2023 16:09:44 +0100 Subject: [PATCH 4/9] higher SD card lock timeout --- bsp_q7s/fs/SdCardManager.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/bsp_q7s/fs/SdCardManager.h b/bsp_q7s/fs/SdCardManager.h index 76a55ec6..e489e6e7 100644 --- a/bsp_q7s/fs/SdCardManager.h +++ b/bsp_q7s/fs/SdCardManager.h @@ -225,7 +225,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF { bool markedUnusable = false; MutexIF* sdLock = nullptr; static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING; - static constexpr uint32_t LOCK_TIMEOUT = 150; + static constexpr uint32_t LOCK_TIMEOUT = 200; static constexpr char LOCK_CTX[] = "SdCardManager"; SdCardManager(); -- 2.34.1 From 1f8f62457d6656a5b3c236d73164f0217d1e8a4b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Mar 2023 16:10:17 +0100 Subject: [PATCH 5/9] remove stopwatch --- bsp_q7s/core/CoreController.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp index 106c95c0..940c9991 100644 --- a/bsp_q7s/core/CoreController.cpp +++ b/bsp_q7s/core/CoreController.cpp @@ -77,7 +77,6 @@ void CoreController::performControlOperation() { #if OBSW_THREAD_TRACING == 1 trace::threadTrace(opCounter, "CORE CTRL"); #endif - Stopwatch watch; EventMessage event; for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK; result = eventQueue->receiveMessage(&event)) { -- 2.34.1 From 23c9e8eed769df2c483d796f00ac11050a1a2325 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Mar 2023 16:18:24 +0100 Subject: [PATCH 6/9] remove old code --- mission/system/tree/acsModeTree.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index d767b617..8b74ae18 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -231,7 +231,6 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { // Build SAFE sequence ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true); - // ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false); ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false); ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false); check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first, @@ -287,7 +286,6 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) { // Build DETUMBLE sequence ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true); - // ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false); check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first, @@ -339,7 +337,6 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { // Build IDLE sequence ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true); - // ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.first, 0, true); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true); ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false, @@ -388,7 +385,6 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { // Build IDLE sequence ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true); - // ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true); check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first, -- 2.34.1 From a2fd590280774749e2d2f95ceb65ba7705695763 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Mar 2023 16:29:19 +0100 Subject: [PATCH 7/9] bump fsfw for possible bugfix --- fsfw | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fsfw b/fsfw index 4c486681..af58c414 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 4c48668125de7a43cb42b8513cada73c2fe3ffbd +Subproject commit af58c414fc40f6151ecb3df3803f9820290e5399 -- 2.34.1 From 888ade0bfb37f1f622ffef09fb7113107e8170b7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Mar 2023 17:05:34 +0100 Subject: [PATCH 8/9] bump fsfw --- fsfw | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fsfw b/fsfw index af58c414..d9a139e1 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit af58c414fc40f6151ecb3df3803f9820290e5399 +Subproject commit d9a139e1efc2bb178b55fc26ecd5b0e1a9d147e4 -- 2.34.1 From 7476f33905f3463e3313825ad9fabd59c8795d95 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Mar 2023 17:22:08 +0100 Subject: [PATCH 9/9] bump tmtc and fsfw --- fsfw | 2 +- tmtc | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/fsfw b/fsfw index d9a139e1..7f6ba5f4 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit d9a139e1efc2bb178b55fc26ecd5b0e1a9d147e4 +Subproject commit 7f6ba5f40b47bc32802efdc4ed41b4bad4b8071b diff --git a/tmtc b/tmtc index 9462a6e2..e74e7511 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 9462a6e2459e11ac03c2bb9694772959ac228cd0 +Subproject commit e74e751142e46c801852a110bef11510cc7c7bfa -- 2.34.1