The datapool variables definition has been corrected. The controller is now working apparently well. It still needs to be tested with real data and devices.

bsp_linux/fsfwconfig/datapool/dataPoolInit.cpp

@@ -8,106 +8,64 @@
 #include "../../../bsp_linux/fsfwconfig/datapool/dataPoolInit.h"
 
 void dataPoolInit(std::map<uint32_t, PoolEntryIF*>* pool_map) {
-	uint32_t testVar[1] = { 0 };
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::DUMMY1,
-					new PoolEntry<uint32_t>(testVar, 1)));
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::DUMMY2,
-					new PoolEntry<uint32_t>(testVar, 1)));
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::DUMMY3,
-					new PoolEntry<uint32_t>(testVar, 1)));
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::DUMMY4,
-					new PoolEntry<uint32_t>(testVar, 1)));
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::DUMMY5,
-					new PoolEntry<uint32_t>(testVar, 1)));
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::DUMMY6,
-					new PoolEntry<uint32_t>(testVar, 1)));
-	int32_t testVarSigned[1] = { 0 };
-	pool_map->insert(
-			std::pair<int32_t, PoolEntryIF*>(datapool::LIMIT_VAR,
-					new PoolEntry<int32_t>(testVarSigned, 1)));
 
-	/*float t_Centroid_PoolId[2] = {0,0};
+	//Here the pool map entries of the DH and CONTROLLER are defined.
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::Centroid_PoolId,
-					new PoolEntry<float>(t_Centroid_PoolId, 2)));
-	uint32_t t_CentroidTime_PoolId[2] = {0,0};
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::CentroidTime_PoolId,
-					new PoolEntry<uint32_t>(t_CentroidTime_PoolId, 2)));*/
-
-	//Here the pool map entries of the Arduino DH are defined
 	
 	float Temperature_value[36] = {0};
 	pool_map->insert(
-			std::pair<float, PoolEntryIF*>(datapool::Temperature_value,
+			std::pair<uint32_t, PoolEntryIF*>(datapool::Temperature_value,
 					new PoolEntry<float>(Temperature_value, 36)));
 	unsigned int Temperature_Timestamp[36] = {0};
 	pool_map->insert(
-			std::pair<unsigned int, PoolEntryIF*>(datapool::Temperature_Timestamp,
+			std::pair<uint32_t, PoolEntryIF*>(datapool::Temperature_Timestamp,
 					new PoolEntry<unsigned int>(Temperature_Timestamp, 36)));
 	float Environmental_value[9] = {0};
 	pool_map->insert(
-			std::pair<float, PoolEntryIF*>(datapool::Environmental_value,
+			std::pair<uint32_t, PoolEntryIF*>(datapool::Environmental_value,
 					new PoolEntry<float>(Environmental_value, 9)));
 	unsigned int Environmental_Timestamp[9] = {0};
 	pool_map->insert(
-			std::pair<unsigned int, PoolEntryIF*>(datapool::Environmental_Timestamp,
+			std::pair<uint32_t, PoolEntryIF*>(datapool::Environmental_Timestamp,
 					new PoolEntry<unsigned int>(Environmental_Timestamp, 9)));
 	float Accelerometer_value[15] = {0};
 	pool_map->insert(
-			std::pair<float, PoolEntryIF*>(datapool::Accelerometer_value,
+			std::pair<uint32_t, PoolEntryIF*>(datapool::Accelerometer_value,
 					new PoolEntry<float>(Accelerometer_value, 15)));
 	unsigned int Accelerometer_Timestamp[15] = {0};
 	pool_map->insert(
-			std::pair<unsigned int, PoolEntryIF*>(datapool::Accelerometer_Timestamp,
+			std::pair<uint32_t, PoolEntryIF*>(datapool::Accelerometer_Timestamp,
 					new PoolEntry<unsigned int>(Accelerometer_Timestamp, 15)));
-					
 	float TEMP_SENSOR_CH1[1] = {0};
 	pool_map->insert(
-			std::pair<float, PoolEntryIF*>(datapool::TEMP_SENSOR_CH1,
+			std::pair<uint32_t, PoolEntryIF*>(datapool::TEMP_SENSOR_CH1,
 					new PoolEntry<float>(TEMP_SENSOR_CH1, 1)));
 	float TEMP_SENSOR_CH2[1] = {0};
 	pool_map->insert(
-			std::pair<float, PoolEntryIF*>(datapool::TEMP_SENSOR_CH2,
+			std::pair<uint32_t, PoolEntryIF*>(datapool::TEMP_SENSOR_CH2,
 					new PoolEntry<float>(TEMP_SENSOR_CH2, 1)));
-
+	int8_t TargetState_COMPONENT_1[1] = {0};
-	/*uint32_t Temp_COMPONENT_1[1] = {0};
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::Temp_COMPONENT_1,
-					new PoolEntry<uint32_t>(Temp_COMPONENT_1, 1)));*/
-	uint32_t TargetState_COMPONENT_1[1] = {0};
 	pool_map->insert(
 			std::pair<uint32_t, PoolEntryIF*>(datapool::TargetState_COMPONENT_1,
-					new PoolEntry<uint32_t>(TargetState_COMPONENT_1, 1)));
+					new PoolEntry<int8_t>(TargetState_COMPONENT_1, 1)));
-	uint32_t CurrentState_COMPONENT_1[1] = {0};
+	int8_t CurrentState_COMPONENT_1[1] = {0};
 	pool_map->insert(
 			std::pair<uint32_t, PoolEntryIF*>(datapool::CurrentState_COMPONENT_1,
-					new PoolEntry<uint32_t>(CurrentState_COMPONENT_1, 1)));
+					new PoolEntry<int8_t>(CurrentState_COMPONENT_1, 1)));
-	uint32_t HeaterRequest_COMPONENT_1[1] = {0};
+	uint8_t HeaterRequest_COMPONENT_1[1] = {0};
 	pool_map->insert(
 			std::pair<uint32_t, PoolEntryIF*>(datapool::HeaterRequest_COMPONENT_1,
-					new PoolEntry<uint32_t>(HeaterRequest_COMPONENT_1, 1)));
+					new PoolEntry<uint8_t>(HeaterRequest_COMPONENT_1, 1)));
-	/*uint32_t Temp_COMPONENT_2[1] = {0};
+	int8_t TargetState_COMPONENT_2[1] = {0};
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::Temp_COMPONENT_2,
-					new PoolEntry<uint32_t>(Temp_COMPONENT_2, 1)));*/
-	uint32_t TargetState_COMPONENT_2[1] = {0};
 	pool_map->insert(
 			std::pair<uint32_t, PoolEntryIF*>(datapool::TargetState_COMPONENT_2,
-					new PoolEntry<uint32_t>(TargetState_COMPONENT_2, 1)));
+					new PoolEntry<int8_t>(TargetState_COMPONENT_2, 1)));
-	uint32_t CurrentState_COMPONENT_2[1] = {0};
+	int8_t CurrentState_COMPONENT_2[1] = {0};
 	pool_map->insert(
 			std::pair<uint32_t, PoolEntryIF*>(datapool::CurrentState_COMPONENT_2,
-					new PoolEntry<uint32_t>(CurrentState_COMPONENT_2, 1)));
+					new PoolEntry<int8_t>(CurrentState_COMPONENT_2, 1)));
-	uint32_t HeaterRequest_COMPONENT_2[1] = {0};
+	uint8_t HeaterRequest_COMPONENT_2[1] = {0};
 	pool_map->insert(
 			std::pair<uint32_t, PoolEntryIF*>(datapool::HeaterRequest_COMPONENT_2,
-					new PoolEntry<uint32_t>(HeaterRequest_COMPONENT_2, 1)));
+					new PoolEntry<uint8_t>(HeaterRequest_COMPONENT_2, 1)));
 					
 }

bsp_linux/fsfwconfig/datapool/dataPoolInit.h

@@ -12,60 +12,22 @@
 
 namespace datapool {
 	enum opus_variable_id {
-		DUMMY1 = 0x100000,
-		DUMMY2 = 0x100001,
-		DUMMY3 = 0x100002,
-		DUMMY4 = 0x100003,
-		DUMMY5 = 0x100004,
-		DUMMY6 = 0x100005,//TEST VAR
-		LIMIT_VAR = 0x100006,
-		TIME_STAMPER = 0x100007,
-		
-		/* The IDs of the variables of the Arduino serial output are here defined.*/
 
-		/* 
+		// The IDs of the variables of the DH and CONTROLLER are here defined.
-		Temperature.start_string = 0x100008,
+		Temperature_value = 0x100001,
-		Temperature.Typ = 0x100009,
+		Temperature_Timestamp = 0x100002,
-		Temperature.SPCChNumber = 0x100010,
+		Environmental_value = 0x10003,
-		Temperature.Value_Cnt = 0x100011,
+		Environmental_Timestamp = 0x10004,
-		Temperature.temperature = 0x100012,
+		Accelerometer_value = 0x10005,
-		Temperature.Timestamp = 0x100013,
+		Accelerometer_Timestamp = 0x10006,
-		Temperature.end_string = 0x100014,
+		TEMP_SENSOR_CH1 = 0x10007,
-		
+		TEMP_SENSOR_CH2 = 0x10008,
-		Environmental.start_string = 0x100015,
+		TargetState_COMPONENT_1 = 0x10009,
-		Environmental.Typ = 0x100016,
+		CurrentState_COMPONENT_1 = 0x100010,
-		Environmental.SPCChNumber = 0x100017,
+		HeaterRequest_COMPONENT_1 = 0x100011,
-		Environmental.Value_Cnt = 0x100018,
+		TargetState_COMPONENT_2 = 0x100012,
-		Environmental.Value = 0x100019,
+		CurrentState_COMPONENT_2 = 0x100013,
-		Environmental.Timestamp = 0x100020,
+		HeaterRequest_COMPONENT_2 = 0x100014
-		Environmental.end_string = 0x100021,
-		
-		Accelerometer.start_string = 0x100022,
-		Accelerometer.Typ = 0x100023,
-		Accelerometer.SPCChNumber = 0x100024,
-		Accelerometer.Value_Cnt = 0x100025,
-		Accelerometer.Value = 0x100026,
-		Accelerometer.Timestamp = 0x100027,
-		Accelerometer.end_string = 0x100028,
-		*/
-		
-		Temperature_value = 0x100008,
-		Temperature_Timestamp = 0x100009,
-		Environmental_value = 0x100010,
-		Environmental_Timestamp = 0x100011,
-		Accelerometer_value = 0x100012,
-		Accelerometer_Timestamp = 0x100013,
-		
-		TEMP_SENSOR_CH1 = 0x100014,
-		TEMP_SENSOR_CH2 = 0x100015,
-		TargetState_COMPONENT_1 = 0x100016,
-		CurrentState_COMPONENT_1 = 0x100017,
-		HeaterRequest_COMPONENT_1 = 0x100018,
-		TargetState_COMPONENT_2 = 0x100019,
-		CurrentState_COMPONENT_2 = 0x100020,
-		HeaterRequest_COMPONENT_2 = 0x100021
-		//Temp_COMPONENT_1 = 0x100098,
-		//Temp_COMPONENT_2 = 0x100099,
 
 		
 	};

bsp_linux/fsfwconfig/pollingsequence/PollingSequenceArduinoFunction.cpp

@@ -17,9 +17,9 @@ ReturnValue_t pollingSequenceArduinoFunction(
 	uint32_t length = thisSequence->getPeriodMs();
 
 	thisSequence->addSlot(objects::ARDUINO_DEVICE_HANDLER, length * 0, 0);
-	thisSequence->addSlot(objects::ARDUINO_DEVICE_HANDLER, length * 0.3, 1);
+	thisSequence->addSlot(objects::ARDUINO_DEVICE_HANDLER, length * 0.2, 1);
 	thisSequence->addSlot(objects::ARDUINO_DEVICE_HANDLER, length * 0.3, 2);
-	thisSequence->addSlot(objects::ARDUINO_DEVICE_HANDLER, length * 0.4, 3);
+	thisSequence->addSlot(objects::ARDUINO_DEVICE_HANDLER, length * 0.5, 3);
 
 	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
 		return HasReturnvaluesIF::RETURN_OK;

mission/DeviceHandler/ArduinoDeviceHandler.cpp

@@ -68,13 +68,25 @@ ReturnValue_t ArduinoDH::scanForReply(const uint8_t *start, size_t len,
 	if (len == *foundLen){
 		// start character: '['
 		if (*start == 91 ){
-				return APERIODIC_REPLY;
+			return APERIODIC_REPLY;
 		} else{
 			return DeviceHandlerIF::LENGTH_MISSMATCH;
 		}
 	} else {
 		return IGNORE_REPLY_DATA;
 	}
+	/*if (len == *foundLen){
+		// start character: '['
+		if (*start == 91 ){
+			if (*start + 9 == 49) {
+				return APERIODIC_REPLY;
+			}
+		} else{
+			return DeviceHandlerIF::LENGTH_MISSMATCH;
+		}
+	} else {
+		return IGNORE_REPLY_DATA;
+	}*/
 }
 
 ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,