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IMTQ Dummy HK sets #648

Merged
muellerr merged 6 commits from imtq-enable-hk-sets into v2.1.0-dev 2023-05-24 14:13:47 +02:00
Conversation 0 Commits 6 Files Changed 7 +69 -7
5 changed files with 69 additions and 7 deletions
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Showing only changes of commit ee0646caf1 - Show all commits

2
bsp_q7s/em/emObjectFactory.cpp
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@ -79,7 +79,7 @@ void ObjectFactory::produce(void* args) {
#endif
satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);
new CoreController(objects::CORE_CONTROLLER, enableHkSets);

40
dummies/ImtqDummy.cpp
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@ -2,8 +2,12 @@
#include <mission/acs/imtqHelpers.h>
ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie) {}
ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
bool enableHkSets)
: DeviceHandlerBase(objectId, comif, comCookie),
setNoTorque(this),
setWithTorque(this),
enableHkSets(enableHkSets) {}
ImtqDummy::~ImtqDummy() = default;
@ -45,5 +49,37 @@ ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataP
localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(imtq::DIPOLES_ID, new PoolEntry<int16_t>({0, 0, 0}));
localDataPoolMap.emplace(imtq::CURRENT_TORQUE_DURATION, new PoolEntry<uint16_t>({0}));
// ENG HK No Torque
localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(imtq::DIGITAL_CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(imtq::ANALOG_CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(imtq::COIL_CURRENTS, &coilCurrentsMilliampsNoTorque);
localDataPoolMap.emplace(imtq::COIL_TEMPERATURES, &coilTempsNoTorque);
localDataPoolMap.emplace(imtq::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
// ENG HK With Torque
localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(imtq::DIGITAL_CURRENT_WT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(imtq::ANALOG_CURRENT_WT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(imtq::COIL_CURRENTS_WT, &coilCurrentsMilliampsWithTorque);
localDataPoolMap.emplace(imtq::COIL_TEMPERATURES_WT, &coilTempsWithTorque);
localDataPoolMap.emplace(imtq::MCU_TEMPERATURE_WT, new PoolEntry<int16_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(setNoTorque.getSid(), enableHkSets, 30.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(setWithTorque.getSid(), enableHkSets, 30.0));
return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
}
LocalPoolDataSetBase *ImtqDummy::getDataSetHandle(sid_t sid) {
if (sid == setNoTorque.getSid()) {
return &setNoTorque;
} else if (sid == setWithTorque.getSid()) {
return &setWithTorque;
}
return nullptr;
}

26
dummies/ImtqDummy.h
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@ -3,6 +3,8 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "mission/acs/imtqHelpers.h"
class ImtqDummy : public DeviceHandlerBase {
public:
static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@ -11,10 +13,31 @@ class ImtqDummy : public DeviceHandlerBase {
static const uint8_t SIMPLE_COMMAND_DATA = 1;
static const uint8_t PERIODIC_REPLY_DATA = 2;
ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets);
~ImtqDummy() override;
protected:
imtq::HkDatasetNoTorque setNoTorque;
imtq::HkDatasetWithTorque setWithTorque;
bool enableHkSets;
PoolEntry<uint8_t> statusMode = PoolEntry<uint8_t>({0});
PoolEntry<uint8_t> statusError = PoolEntry<uint8_t>({0});
PoolEntry<uint8_t> statusConfig = PoolEntry<uint8_t>({0});
PoolEntry<uint32_t> statusUptime = PoolEntry<uint32_t>({0});
PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
PoolEntry<int16_t> dipolesPoolEntry = PoolEntry<int16_t>({0, 0, 0}, false);
PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>({0}, false);
PoolEntry<float> coilCurrentsMilliampsNoTorque = PoolEntry<float>(3);
PoolEntry<float> coilCurrentsMilliampsWithTorque = PoolEntry<float>(3);
PoolEntry<int16_t> coilTempsNoTorque = PoolEntry<int16_t>(3);
PoolEntry<int16_t> coilTempsWithTorque = PoolEntry<int16_t>(3);
PoolEntry<float> mtmRawNoTorque = PoolEntry<float>(3);
PoolEntry<uint8_t> actStatusNoTorque = PoolEntry<uint8_t>(1);
PoolEntry<float> mtmRawWithTorque = PoolEntry<float>(3);
PoolEntry<uint8_t> actStatusWithTorque = PoolEntry<uint8_t>(1);
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
@ -28,6 +51,7 @@ class ImtqDummy : public DeviceHandlerBase {
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
};
#endif /* DUMMIES_IMTQDUMMY_H_ */

6
dummies/helperFactory.cpp
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@ -42,7 +42,8 @@
#include "mission/system/tree/payloadModeTree.h"
#include "mission/tcs/defs.h"
void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {
void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF,
bool enableHkSets) {
new ComIFDummy(objects::DUMMY_COM_IF);
auto* comCookieDummy = new ComCookieDummy();
if (cfg.addBpxBattDummy) {
@ -74,7 +75,8 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
}
auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
auto* imtqDummy =
new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets);
imtqDummy->enableThermalModule(ThermalStateCfg());
imtqDummy->connectModeTreeParent(*imtqAssy);
if (cfg.addOnlyAcuDummy) {

2
dummies/helperFactory.h
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@ -22,6 +22,6 @@ struct DummyCfg {
bool addCamSwitcherDummy = true;
};
void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF);
void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF, bool enableHkSets);
} // namespace dummy