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Store TLE presistent #789

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meggert merged 17 commits from persistent-tle-store into dev-7.5.0 2023-12-01 13:04:57 +01:00
Conversation 0 Commits 17 Files Changed 10 +71 -34
3 changed files with 71 additions and 34 deletions
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76
mission/controller/AcsController.cpp
View File

@ -22,8 +22,7 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets)
mekfData(this),
ctrlValData(this),
actuatorCmdData(this),
fusedRotRateData(this),
tleData(this) {}
fusedRotRateData(this) {}
ReturnValue_t AcsController::initialize() {
ReturnValue_t result = parameterHelper.initialize();
@ -67,19 +66,13 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
if (size != 69 * 2) {
return INVALID_PARAMETERS;
}
ReturnValue_t result = navigation.updateTle(data, data + 69);
ReturnValue_t result = updateTle(data, data + 69, false);
if (result != returnvalue::OK) {
PoolReadGuard pg(&tleData);
navigation.updateTle(tleData.line1.value, tleData.line2.value);
return result;
}
{
PoolReadGuard pg(&tleData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(tleData.line1.value, data, 69);
std::memcpy(tleData.line2.value, data + 69, 69);
tleData.setValidity(true, true);
}
result = writeTleToFs(data);
if (result != returnvalue::OK) {
return result;
}
return HasActionsIF::EXECUTION_FINISHED;
}
@ -130,6 +123,10 @@ void AcsController::performControlOperation() {
}
case InternalState::INITIAL_DELAY: {
if (initialCountdown.hasTimedOut()) {
uint8_t line1[69] = {};
uint8_t line2[69] = {};
readTleFromFs(line1, line2);
updateTle(line1, line2, true);
internalState = InternalState::READY;
}
return;
@ -801,9 +798,6 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal);
poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0});
// TLE Data
localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_1, &line1);
localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_2, &line2);
return returnvalue::OK;
}
@ -1031,6 +1025,58 @@ void AcsController::copySusData() {
}
}
ReturnValue_t AcsController::updateTle(const uint8_t *line1, const uint8_t *line2, bool fromFile) {
ReturnValue_t result = navigation.updateTle(line1, line2);
if (result != returnvalue::OK) {
if (not fromFile) {
uint8_t fileLine1[69] = {};
uint8_t fileLine2[69] = {};
readTleFromFs(fileLine1, fileLine2);
navigation.updateTle(fileLine1, fileLine2);
}
return result;
}
return returnvalue::OK;
}
ReturnValue_t AcsController::writeTleToFs(const uint8_t *tle) {
// split TLE to two lines
// not sure why these need to be 70 long
uint8_t tleLine1[70] = {};
uint8_t tleLine2[70] = {};
std::memcpy(tleLine1, tle, 69);
std::memcpy(tleLine2, tle + 69, 69);
// ToDo: check which SD card is active via sdcMan
std::string path = SD_0 + TLE_FILE;
// Clear existing TLE from file
std::ofstream tleFile(path.c_str(), std::ofstream::out | std::ofstream::trunc);
if (tleFile.is_open()) {
tleFile << tleLine1 << "\n" << tleLine2 << "\n";
} else {
// return error
}
tleFile.close();
return returnvalue::OK;
}
ReturnValue_t AcsController::readTleFromFs(uint8_t *line1, uint8_t *line2) {
// ToDo: check which SD card is active via sdcMan
std::string path = SD_0 + TLE_FILE;
// Read existing TLE from file
std::fstream tleFile = std::fstream(path.c_str(), std::fstream::in);
if (tleFile.is_open()) {
std::string tleLine1, tleLine2;
getline(tleFile, tleLine1);
std::memcpy(line1, tleLine1.c_str(), 69);
getline(tleFile, tleLine2);
std::memcpy(line2, tleLine2.c_str(), 69);
} else {
// return error
}
tleFile.close();
return returnvalue::OK;
}
void AcsController::copyGyrData() {
{
PoolReadGuard pg(&sensorValues.gyr0AdisSet);

15
mission/controller/AcsController.h
View File

@ -25,6 +25,8 @@
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
#include <mission/utility/trace.h>
#include <fstream>
class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
public:
static constexpr dur_millis_t INIT_DELAY = 500;
@ -125,6 +127,14 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
const double* tgtRotRate);
ReturnValue_t updateTle(const uint8_t* line1, const uint8_t* line2, bool fromFile);
ReturnValue_t writeTleToFs(const uint8_t* tle);
ReturnValue_t readTleFromFs(uint8_t* line1, uint8_t* line2);
const std::string SD_0 = "/mnt/sd0/";
const std::string SD_1 = "/mnt/sd1/";
const std::string TLE_FILE = "conf/tle.txt";
/* ACS Sensor Values */
ACS::SensorValues sensorValues;
@ -238,11 +248,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
// TLE Dataset
acsctrl::TleData tleData;
PoolEntry<uint8_t> line1 = PoolEntry<uint8_t>(69);
PoolEntry<uint8_t> line2 = PoolEntry<uint8_t>(69);
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(INIT_DELAY);
};

14
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
View File

@ -110,9 +110,6 @@ enum PoolIds : lp_id_t {
ROT_RATE_ORTHOGONAL,
ROT_RATE_PARALLEL,
ROT_RATE_TOTAL,
// TLE
TLE_LINE_1,
TLE_LINE_2,
};
static constexpr uint8_t MGM_SET_RAW_ENTRIES = 6;
@ -126,7 +123,6 @@ static constexpr uint8_t MEKF_SET_ENTRIES = 3;
static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
static constexpr uint8_t TLE_SET_ENTRIES = 2;
/**
* @brief Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
@ -299,16 +295,6 @@ class FusedRotRateData : public StaticLocalDataSet<FUSED_ROT_RATE_SET_ENTRIES> {
private:
};
class TleData : public StaticLocalDataSet<TLE_SET_ENTRIES> {
meggert marked this conversation as resolved Outdated
muellerr commented 2023-11-29 18:48:22 +01:00
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Does it make sense to keep this set, so the current TLE remains observable? Alternatively, an action command with the action reply being the current TLE could be used..

Does it make sense to keep this set, so the current TLE remains observable? Alternatively, an action command with the action reply being the current TLE could be used..
meggert commented 2023-12-01 11:46:06 +01:00
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An action reply was added which dumps the TLE stored in the file (which could also just be dumped).
The TLE is only really used for the initialization of the propagator. Therefore, the propagator also does not store the TLE itself, but only parts of it. The state of the propagator however can also be checked, by simply checking the propagated position of the satellite.

An action reply was added which dumps the TLE stored in the file (which could also just be dumped). The TLE is only really used for the initialization of the propagator. Therefore, the propagator also does not store the TLE itself, but only parts of it. The state of the propagator however can also be checked, by simply checking the propagated position of the satellite.
public:
TleData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, TLE_SET) {}
lp_vec_t<uint8_t, 69> line1 = lp_vec_t<uint8_t, 69>(sid.objectId, TLE_LINE_1, this);
lp_vec_t<uint8_t, 69> line2 = lp_vec_t<uint8_t, 69>(sid.objectId, TLE_LINE_1, this);
private:
};
} // namespace acsctrl
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ */