CHANGELOG.md

@@ -55,6 +55,7 @@ will consitute of a breaking change warranting a new major release:
 - Add the remaining system modes.
 - PLOC MPSoC flash read command working.
 - BPX battery handler is added for EM by default.
+- IMTQ HK sets
 
 ## Fixed
 

bsp_hosted/ObjectFactory.cpp

@@ -62,6 +62,10 @@ void ObjectFactory::produce(void* args) {
   StorageManagerIF* tmStore;
   StorageManagerIF* ipcStore;
   PersistentTmStores persistentStores;
+  bool enableHkSets = false;
+#if OBSW_ENABLE_PERIODIC_HK == 1
+  enableHkSets = true;
+#endif
   auto sdcMan = new DummySdCardManager("/tmp");
   ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
                                        &tmStore, persistentStores, 120);
@@ -101,7 +105,7 @@ void ObjectFactory::produce(void* args) {
 #endif
 
   dummy::DummyCfg cfg;
-  dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF);
+  dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF, enableHkSets);
 
   HeaterHandler* heaterHandler = nullptr;
   // new ThermalController(objects::THERMAL_CONTROLLER);

bsp_q7s/em/emObjectFactory.cpp

@@ -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);
 

dummies/ImtqDummy.cpp

@@ -2,8 +2,12 @@
 
 #include <mission/acs/imtqHelpers.h>
 
-ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
-    : DeviceHandlerBase(objectId, comif, 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;
+}

dummies/ImtqDummy.h

@@ -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_ */

dummies/helperFactory.cpp

@@ -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) {

dummies/helperFactory.h

@@ -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