Ulrich Mohr
acd365e421
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58 lines
2.4 KiB
C++
58 lines
2.4 KiB
C++
#ifndef MISSION_CONTROLLER_ACSCONTROLLER_H_
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#define MISSION_CONTROLLER_ACSCONTROLLER_H_
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#include <commonObjects.h>
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#include "controllerdefinitions/AcsCtrlDefinitions.h"
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#include <fsfw/controller/ExtendedControllerBase.h>
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#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
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#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
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#include "mission/devices/devicedefinitions/IMTQHandlerDefinitions.h"
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class AcsController : public ExtendedControllerBase {
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public:
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static constexpr dur_millis_t INIT_DELAY = 500;
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AcsController(object_id_t objectId);
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private:
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enum class InternalState { STARTUP, INITIAL_DELAY, READY };
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InternalState internalState = InternalState::STARTUP;
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ReturnValue_t handleCommandMessage(CommandMessage* message) override;
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void performControlOperation() override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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// Mode abstract functions
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) override;
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ModeDefinitionHelper getModeDefinitionHelper() override;
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// MGMs
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acsctrl::MgmData mgmData;
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MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set = MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
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RM3100::Rm3100PrimaryDataset mgm1Rm3100Set = RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
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MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set = MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
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RM3100::Rm3100PrimaryDataset mgm3Rm3100Set = RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
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IMTQ::CalibratedMtmMeasurementSet imtqMgmSet = IMTQ::CalibratedMtmMeasurementSet(objects::IMTQ_HANDLER);
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PoolEntry<float> mgm0PoolVec = PoolEntry<float>(3);
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PoolEntry<float> mgm1PoolVec = PoolEntry<float>(3);
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PoolEntry<float> mgm2PoolVec = PoolEntry<float>(3);
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PoolEntry<float> mgm3PoolVec = PoolEntry<float>(3);
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PoolEntry<int32_t> imtqMgmPoolVec = PoolEntry<int32_t>(3);
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PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();
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void copyMgmData();
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// Initial delay to make sure all pool variables have been initialized their owners
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Countdown initialCountdown = Countdown(INIT_DELAY);
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// Sun Sensors
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};
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#endif /* MISSION_CONTROLLER_ACSCONTROLLER_H_ */
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