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Errors to be solved in data reading and controller operations.

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This commit is contained in:
mmode
2021-09-14 17:52:32 +02:00
parent 8c80e9f7c0
commit 868a461acb
14 changed files with 40 additions and 35 deletions
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23
mission/Controller/ThermalController.cpp
View File

@ -9,7 +9,7 @@
#include <mission/Controller/tcs_data_config.h>
ThermalController::ThermalController(object_id_t objectId, object_id_t powerSwitcher, size_t commandQueueDepth):
ControllerBase(objectId, NULL, commandQueueDepth), mode(MODE_ON), submode(HEATER_REDUNDANCY),
ControllerBase(objectId, 0, commandQueueDepth),
powerSwitcherId(powerSwitcher), TempValueVec(datapool::Temperature_value, &TCSData, PoolVariableIF::VAR_READ),
TEMPERATURE_SENSOR_CH1(objects::TCS_SENSOR_CH1, &TempValueVec[0], &TempValueVec, 0, TEMPERATURE_SENSOR_CONFIG, datapool::TEMP_SENSOR_CH1, &TCSData, NULL),
TEMPERATURE_SENSOR_CH2(objects::TCS_SENSOR_CH2, &TempValueVec[1], &TempValueVec, 1, TEMPERATURE_SENSOR_CONFIG, datapool::TEMP_SENSOR_CH2, &TCSData, NULL),
@ -63,6 +63,9 @@ ReturnValue_t ThermalController::initialize() {
}*/
/* ************************ */
mode = MODE_NORMAL;
submode = HEATER_REDUNDANCY;
sif::debug<<"\nDEBUG_TCS: Start initialization"<<std::endl;
return HasReturnvaluesIF::RETURN_OK;
@ -83,7 +86,7 @@ ReturnValue_t ThermalController::handleCommandMessage(CommandMessage *message) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ThermalController::performOperation() {
ReturnValue_t ThermalController::performOperation(uint8_t opCode) {
sif::debug<<"\nDEBUG_TCS: Start of controller operations"<<std::endl;
std::cout << "\nDEBUG_TCS: Start of controller operations" << std::endl;
@ -91,8 +94,10 @@ ReturnValue_t ThermalController::performOperation() {
for (std::list<ArduinoTCSTemperatureSensor>::iterator iter = sensors.begin(); iter != sensors.end(); iter++) {
iter->performHealthOp();
}
sif::debug<<"\nDEBUG_TCS: Health ops"<<std::endl;
ControllerBase::performOperation(0);
sif::debug<<"\nDEBUG_TCS: Controller ops"<<std::endl;
if (mode == MODE_OFF) {
return HasReturnvaluesIF::RETURN_OK;
@ -103,6 +108,7 @@ ReturnValue_t ThermalController::performOperation() {
iter->performOperation(0);
}
TCSData.commit();
sif::debug<<"\nDEBUG_TCS: Sensor ops"<<std::endl;
TCSData.read(); // ?check the read, separate dataset
//calculateStrategy(true, true);
@ -112,6 +118,7 @@ ReturnValue_t ThermalController::performOperation() {
//request = iter->performOperation(0, ThermalComponentIF::SAFE, true, false);
}
TCSData.commit();
sif::debug<<"\nDEBUG_TCS: Component ops"<<std::endl;
std::cout << "\nDEBUG_TCS: End of controller operations" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
@ -132,9 +139,9 @@ ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode
msToReachTheMode = 0;
switch (mode) {
case MODE_OFF:
startTransition(mode, NULL);
startTransition(mode, 0);
break;
case MODE_ON:
case MODE_NORMAL:
if (submode == NO_REDUNDANCY) {
return HasReturnvaluesIF::RETURN_OK;
}
@ -149,13 +156,11 @@ ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode
void ThermalController::startTransition(Mode_t mode, Submode_t submode){
switch (mode) {
case MODE_OFF:
mode = MODE_ON;
mode = MODE_NORMAL;
break;
case MODE_ON:
case MODE_NORMAL:
mode = MODE_OFF;
break;
case NULL:
break;
default:
mode = MODE_OFF;
break;
@ -167,7 +172,7 @@ void ThermalController::startTransition(Mode_t mode, Submode_t submode){
case HEATER_REDUNDANCY:
submode = NO_REDUNDANCY;
break;
case NULL:
case 0:
break;
default:
submode = NO_REDUNDANCY;

10
mission/Controller/ThermalController.h
View File

@ -23,8 +23,8 @@
class ThermalController: public ControllerBase {
public:
static const Mode_t MODE_ON = 1;
static const Mode_t MODE_OFF = 2;
//static const Mode_t MODE_ON = 1;
//static const Mode_t MODE_OFF = 2;
static const Submode_t NO_REDUNDANCY = 1;
static const Submode_t HEATER_REDUNDANCY = 2;
@ -39,7 +39,7 @@ public:
virtual~ ThermalController();
ReturnValue_t initialize() override;
ReturnValue_t performOperation();
ReturnValue_t performOperation(uint8_t opCode) override;
//virtual MessageQueueId_t getCommandQueue() const;
private:
@ -85,8 +85,8 @@ private:
protected:
Mode_t mode;
Submode_t submode;
//Mode_t mode;
//Submode_t submode;
/* Extended Controller Base overrides */
ReturnValue_t handleCommandMessage(CommandMessage *message) override;