eive/eive-obsw
eive/eive-obsw
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v7.5.0 #828

Merged
muellerr merged 96 commits from dev-7.5.0 into main 2023-12-06 17:44:23 +01:00
Conversation 0 Commits 96 Files Changed 47 +49 -30
7 changed files with 49 additions and 30 deletions
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Showing only changes of commit 370eff5204 - Show all commits

2
bsp_q7s/em/emObjectFactory.cpp
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@ -175,7 +175,7 @@ void ObjectFactory::produce(void* args) {
createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
#endif
createAcsController(true, enableHkSets);
createAcsController(true, enableHkSets, *SdCardManager::instance());
HeaterHandler* heaterHandler;
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
createThermalController(*heaterHandler, true);

2
bsp_q7s/fmObjectFactory.cpp
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@ -130,6 +130,6 @@ void ObjectFactory::produce(void* args) {
createMiscComponents();
createThermalController(*heaterHandler, false);
createAcsController(true, enableHkSets);
createAcsController(true, enableHkSets, *SdCardManager::instance());
satsystem::init(false);
}

5
linux/ObjectFactory.cpp
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@ -335,8 +335,9 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
scexHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
}
AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets) {
auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets);
AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets,
SdCardMountedIF& mountedIF) {
auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets, mountedIF);
if (connectSubsystem) {
acsCtrl->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
}

3
linux/ObjectFactory.h
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@ -31,7 +31,8 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
void gpioChecker(ReturnValue_t result, std::string output);
AcsController* createAcsController(bool connectSubsystem, bool enableHkSets);
AcsController* createAcsController(bool connectSubsystem, bool enableHkSets,
SdCardMountedIF& mountedIF);
PowerController* createPowerController(bool connectSubsystem, bool enableHkSets);
} // namespace ObjectFactory

2
mission/acs/defs.h
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@ -73,6 +73,8 @@ static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(6, severity::HIG
static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(7, severity::HIGH);
//! [EXPORT] : [COMMENT] The TLE for the SGP4 Propagator has become too old.
static constexpr Event TLE_TOO_OLD = MAKE_EVENT(8, severity::INFO);
//! [EXPORT] : [COMMENT] The TLE for the SGP4 Propagator has become too old.
static constexpr Event TLE_FILE_READ_FAILED = MAKE_EVENT(9, severity::LOW);
extern const char* getModeStr(AcsMode mode);

49
mission/controller/AcsController.cpp
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@ -1,12 +1,9 @@
#include "AcsController.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/acs/defs.h>
#include <mission/config/torquer.h>
AcsController::AcsController(object_id_t objectId, bool enableHkSets)
AcsController::AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF &sdcMan)
: ExtendedControllerBase(objectId),
enableHkSets(enableHkSets),
sdcMan(sdcMan),
fusedRotationEstimation(&acsParameters),
guidance(&acsParameters),
safeCtrl(&acsParameters),
@ -1040,8 +1037,11 @@ ReturnValue_t AcsController::updateTle(const uint8_t *line1, const uint8_t *line
}
ReturnValue_t AcsController::writeTleToFs(const uint8_t *tle) {
// ToDo: check which SD card is active via sdcMan
std::string path = SD_0 + TLE_FILE;
auto mntPrefix = sdcMan.getCurrentMountPrefix();
if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
return returnvalue::FAILED;
}
std::string path = mntPrefix + TLE_FILE;
// Clear existing TLE from file
std::ofstream tleFile(path.c_str(), std::ofstream::out | std::ofstream::trunc);
if (tleFile.is_open()) {
@ -1049,27 +1049,34 @@ ReturnValue_t AcsController::writeTleToFs(const uint8_t *tle) {
tleFile << "\n";
tleFile.write(reinterpret_cast<const char *>(tle + 69), 69);
} else {
// return error
return WRITE_FILE_FAILED;
}
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
auto mntPrefix = sdcMan.getCurrentMountPrefix();
if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
return returnvalue::FAILED;
}
std::string path = mntPrefix + TLE_FILE;
std::error_code e;
if (std::filesystem::exists(path, e)) {
// 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 {
triggerEvent(acs::TLE_FILE_READ_FAILED);
return returnvalue::FAILED;
}
tleFile.close();
}
tleFile.close();
return returnvalue::OK;
}

16
mission/controller/AcsController.h
View File

@ -4,15 +4,18 @@
#include <eive/objects.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/coordinates/Sgp4Propagator.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
#include <mission/acs/defs.h>
#include <mission/acs/imtqHelpers.h>
#include <mission/acs/rwHelpers.h>
#include <mission/acs/susMax1227Helpers.h>
#include <mission/config/torquer.h>
#include <mission/controller/acs/ActuatorCmd.h>
#include <mission/controller/acs/FusedRotationEstimation.h>
#include <mission/controller/acs/Guidance.h>
@ -23,15 +26,18 @@
#include <mission/controller/acs/control/PtgCtrl.h>
#include <mission/controller/acs/control/SafeCtrl.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
#include <mission/memory/SdCardMountedIF.h>
#include <mission/utility/trace.h>
#include <filesystem>
#include <fstream>
#include <optional>
class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
public:
static constexpr dur_millis_t INIT_DELAY = 500;
AcsController(object_id_t objectId, bool enableHkSets);
AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF& sdcMan);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
@ -51,6 +57,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
bool enableHkSets = false;
SdCardMountedIF& sdcMan;
AcsParameters acsParameters;
SensorProcessing sensorProcessing;
FusedRotationEstimation fusedRotationEstimation;
@ -93,6 +101,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
//! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent.
static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
//! [EXPORT] : [COMMENT] Writing the TLE to the file has failed.
static constexpr ReturnValue_t WRITE_FILE_FAILED = MAKE_RETURN_CODE(1);
ReturnValue_t initialize() override;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
@ -131,9 +141,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
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";
const std::string TLE_FILE = "/conf/tle.txt";
/* ACS Sensor Values */
ACS::SensorValues sensorValues;