From 951cf87a87d77fe41b1f482969bb09a3fb6b8cbc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Caruso?= <niccolo.caruso@skywarder.eu>
Date: Wed, 2 Oct 2024 15:17:09 +0200
Subject: [PATCH] [ARP] Refactoring SMController -> SMA
---
cmake/dependencies.cmake | 2 +-
.../Groundstation/Automated/BoardStatus.cpp | 4 +-
.../{SMControllerConfig.h => SMAConfig.h} | 4 +-
src/boards/Groundstation/Automated/Hub.cpp | 10 +-
.../SMController.cpp => SMA/SMA.cpp} | 217 +++++++++---------
.../SMController.h => SMA/SMA.h} | 20 +-
.../SMControllerData.h => SMA/SMAData.h} | 8 +-
.../Automated/automated-antennas-entry.cpp | 6 +-
.../Automated/test-smcontroller.cpp | 16 +-
9 files changed, 142 insertions(+), 145 deletions(-)
rename src/boards/Groundstation/Automated/Config/{SMControllerConfig.h => SMAConfig.h} (95%)
rename src/boards/Groundstation/Automated/{SMController/SMController.cpp => SMA/SMA.cpp} (73%)
rename src/boards/Groundstation/Automated/{SMController/SMController.h => SMA/SMA.h} (90%)
rename src/boards/Groundstation/Automated/{SMController/SMControllerData.h => SMA/SMAData.h} (92%)
diff --git a/cmake/dependencies.cmake b/cmake/dependencies.cmake
index cdcd01d00..f74071ea3 100644
--- a/cmake/dependencies.cmake
+++ b/cmake/dependencies.cmake
@@ -145,7 +145,7 @@ set(GROUNDSTATION_AUTOMATED
src/boards/Groundstation/Automated/Ports/Ethernet.cpp
src/boards/Groundstation/Automated/Hub.cpp
src/boards/Groundstation/Automated/Leds/Leds.cpp
- src/boards/Groundstation/Automated/SMController/SMController.cpp
+ src/boards/Groundstation/Automated/SMA/SMA.cpp
)
set(ANTENNAS
diff --git a/src/boards/Groundstation/Automated/BoardStatus.cpp b/src/boards/Groundstation/Automated/BoardStatus.cpp
index beb13b1bc..3283aeac5 100644
--- a/src/boards/Groundstation/Automated/BoardStatus.cpp
+++ b/src/boards/Groundstation/Automated/BoardStatus.cpp
@@ -25,7 +25,7 @@
#include <Groundstation/Automated/Actuators/Actuators.h>
#include <Groundstation/Automated/Ports/Ethernet.h>
#include <Groundstation/Automated/Radio/Radio.h>
-#include <Groundstation/Automated/SMController/SMController.h>
+#include <Groundstation/Automated/SMA/SMA.h>
#include <Groundstation/Automated/Sensors/Sensors.h>
#include <Groundstation/Common/Config/GeneralConfig.h>
#include <Groundstation/Common/HubBase.h>
@@ -69,7 +69,7 @@ void BoardStatus::run()
auto vn300 = modules.get<Sensors>()->getVN300LastSample();
Actuators *actuators = modules.get<Actuators>();
- SMController *sm = modules.get<SMController>();
+ SMA *sm = modules.get<SMA>();
AntennaAngles targetAngles = sm->getTargetAngles();
diff --git a/src/boards/Groundstation/Automated/Config/SMControllerConfig.h b/src/boards/Groundstation/Automated/Config/SMAConfig.h
similarity index 95%
rename from src/boards/Groundstation/Automated/Config/SMControllerConfig.h
rename to src/boards/Groundstation/Automated/Config/SMAConfig.h
index e38667193..bf6ad7cf2 100644
--- a/src/boards/Groundstation/Automated/Config/SMControllerConfig.h
+++ b/src/boards/Groundstation/Automated/Config/SMAConfig.h
@@ -25,11 +25,11 @@
namespace Antennas
{
-namespace SMControllerConfig
+namespace SMAConfig
{
/// @brief Period of the propagator algorithm [ms].
constexpr uint32_t UPDATE_PERIOD = 100; // 10 Hz
-} // namespace SMControllerConfig
+} // namespace SMAConfig
} // namespace Antennas
diff --git a/src/boards/Groundstation/Automated/Hub.cpp b/src/boards/Groundstation/Automated/Hub.cpp
index 67e6b6967..b0223dcd4 100644
--- a/src/boards/Groundstation/Automated/Hub.cpp
+++ b/src/boards/Groundstation/Automated/Hub.cpp
@@ -26,7 +26,7 @@
#include <Groundstation/Automated/BoardStatus.h>
#include <Groundstation/Automated/Ports/Ethernet.h>
#include <Groundstation/Automated/Radio/Radio.h>
-#include <Groundstation/Automated/SMController/SMController.h>
+#include <Groundstation/Automated/SMA/SMA.h>
#include <Groundstation/Common/Config/GeneralConfig.h>
#include <Groundstation/Common/Ports/Serial.h>
#include <algorithms/NAS/NASState.h>
@@ -96,7 +96,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
// The stepper is moved of 'angle' degrees
ErrorMovement moved =
- modules.get<SMController>()->moveStepperDeg(stepperId, angle);
+ modules.get<SMA>()->moveStepperDeg(stepperId, angle);
if (moved == ErrorMovement::OK)
sendAck(msg);
else
@@ -112,7 +112,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
// The stepper is moved of 'steps' steps
ErrorMovement moved =
- modules.get<SMController>()->moveStepperSteps(stepperId, steps);
+ modules.get<SMA>()->moveStepperSteps(stepperId, steps);
if (moved == ErrorMovement::OK)
sendAck(msg);
else
@@ -135,7 +135,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
gpsData.fix = 3;
gpsData.satellites = 42;
- modules.get<SMController>()->setInitialRocketCoordinates(gpsData);
+ modules.get<SMA>()->setInitialRocketCoordinates(gpsData);
sendAck(msg);
break;
}
@@ -155,7 +155,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
gpsData.fix = 3;
gpsData.satellites = 42;
- modules.get<SMController>()->setAntennaCoordinates(gpsData);
+ modules.get<SMA>()->setAntennaCoordinates(gpsData);
sendAck(msg);
break;
}
diff --git a/src/boards/Groundstation/Automated/SMController/SMController.cpp b/src/boards/Groundstation/Automated/SMA/SMA.cpp
similarity index 73%
rename from src/boards/Groundstation/Automated/SMController/SMController.cpp
rename to src/boards/Groundstation/Automated/SMA/SMA.cpp
index a2e1f4741..4ce7e2b95 100644
--- a/src/boards/Groundstation/Automated/SMController/SMController.cpp
+++ b/src/boards/Groundstation/Automated/SMA/SMA.cpp
@@ -20,10 +20,10 @@
* THE SOFTWARE.
*/
-#include "SMController.h"
+#include "SMA.h"
#include <Groundstation/Automated/Actuators/Actuators.h>
-#include <Groundstation/Automated/Config/SMControllerConfig.h>
+#include <Groundstation/Automated/Config/SMAConfig.h>
#include <Groundstation/Automated/Hub.h>
#include <Groundstation/Automated/Leds/Leds.h>
#include <Groundstation/Automated/Sensors/Sensors.h>
@@ -33,7 +33,7 @@
#include <utils/ModuleManager/ModuleManager.hpp>
-#include "SMControllerData.h"
+#include "SMAData.h"
using namespace Boardcore;
using namespace Groundstation;
@@ -44,28 +44,26 @@ using namespace std;
namespace Antennas
{
-SMController::SMController(TaskScheduler* sched)
- : HSM(&SMController::state_config), scheduler(sched),
- propagator(SMControllerConfig::UPDATE_PERIOD),
- follower(SMControllerConfig::UPDATE_PERIOD)
+SMA::SMA(TaskScheduler* sched)
+ : HSM(&SMA::state_config), scheduler(sched),
+ propagator(SMAConfig::UPDATE_PERIOD), follower(SMAConfig::UPDATE_PERIOD)
{
EventBroker::getInstance().subscribe(this, TOPIC_ARP);
EventBroker::getInstance().subscribe(this, TOPIC_TMTC);
}
-bool SMController::start()
+bool SMA::start()
{
- size_t result = scheduler->addTask(bind(&SMController::update, this),
- SMControllerConfig::UPDATE_PERIOD,
- TaskScheduler::Policy::RECOVER);
+ size_t result =
+ scheduler->addTask(bind(&SMA::update, this), SMAConfig::UPDATE_PERIOD,
+ TaskScheduler::Policy::RECOVER);
return HSM::start() && result != 0;
}
-void SMController::setAntennaCoordinates(
- const Boardcore::GPSData& antennaCoordinates)
+void SMA::setAntennaCoordinates(const Boardcore::GPSData& antennaCoordinates)
{
- if (!testState(&SMController::state_insert_info) &&
- !testState(&SMController::state_fix_antennas))
+ if (!testState(&SMA::state_insert_info) &&
+ !testState(&SMA::state_fix_antennas))
{
LOG_ERR(logger,
"Antenna coordinates can only be set in states: "
@@ -78,11 +76,11 @@ void SMController::setAntennaCoordinates(
}
}
-void SMController::setInitialRocketCoordinates(
+void SMA::setInitialRocketCoordinates(
const Boardcore::GPSData& rocketCoordinates)
{
- if (!testState(&SMController::state_fix_rocket) &&
- !testState(&SMController::state_fix_rocket_nf))
+ if (!testState(&SMA::state_fix_rocket) &&
+ !testState(&SMA::state_fix_rocket_nf))
{
LOG_ERR(logger,
"Rocket coordinates can only be set in the "
@@ -95,10 +93,9 @@ void SMController::setInitialRocketCoordinates(
}
}
-ErrorMovement SMController::moveStepperDeg(StepperList stepperId, float angle)
+ErrorMovement SMA::moveStepperDeg(StepperList stepperId, float angle)
{
- if (!testState(&SMController::state_test) &&
- !testState(&SMController::state_test_nf))
+ if (!testState(&SMA::state_test) && !testState(&SMA::state_test_nf))
{
LOG_ERR(logger, "Stepper can only be manually moved in the TEST state");
return ErrorMovement::NOT_TEST;
@@ -110,11 +107,9 @@ ErrorMovement SMController::moveStepperDeg(StepperList stepperId, float angle)
}
}
-ErrorMovement SMController::moveStepperSteps(StepperList stepperId,
- int16_t steps)
+ErrorMovement SMA::moveStepperSteps(StepperList stepperId, int16_t steps)
{
- if (!testState(&SMController::state_test) &&
- !testState(&SMController::state_test_nf))
+ if (!testState(&SMA::state_test) && !testState(&SMA::state_test_nf))
{
LOG_ERR(logger, "Stepper can only be manually moved in the TEST state");
return ErrorMovement::NOT_TEST;
@@ -126,12 +121,12 @@ ErrorMovement SMController::moveStepperSteps(StepperList stepperId,
}
}
-void SMController::update()
+void SMA::update()
{
switch (status.state)
{
// in fix_antennas state, wait for the GPS fix of ARP
- case SMControllerState::FIX_ANTENNAS:
+ case SMAState::FIX_ANTENNAS:
{
VN300Data vn300Data;
GPSData antennaPosition;
@@ -165,8 +160,8 @@ void SMController::update()
break;
}
// in fix_rocket state, wait for the GPS fix of the rocket
- case SMControllerState::FIX_ROCKET:
- case SMControllerState::FIX_ROCKET_NF:
+ case SMAState::FIX_ROCKET:
+ case SMAState::FIX_ROCKET_NF:
{
GPSData rocketCoordinates;
@@ -190,8 +185,8 @@ void SMController::update()
break;
}
// in active state, update the follower and propagator inner states
- case SMControllerState::ACTIVE:
- case SMControllerState::ACTIVE_NF:
+ case SMAState::ACTIVE:
+ case SMAState::ACTIVE_NF:
{
// retrieve the last NAS Rocket state
Hub* hub =
@@ -249,13 +244,13 @@ void SMController::update()
}
// Super state
-State SMController::state_config(const Event& event)
+State SMA::state_config(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::CONFIG);
+ logStatus(SMAState::CONFIG);
return HANDLED;
}
case EV_EXIT:
@@ -264,11 +259,11 @@ State SMController::state_config(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_top);
+ return tranSuper(&SMA::state_top);
}
case EV_INIT:
{
- return transition(&SMController::state_init);
+ return transition(&SMA::state_init);
}
case TMTC_ARP_RESET_BOARD:
{
@@ -283,13 +278,13 @@ State SMController::state_config(const Event& event)
}
// Super state
-State SMController::state_feedback(const Event& event)
+State SMA::state_feedback(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::FEEDBACK);
+ logStatus(SMAState::FEEDBACK);
return HANDLED;
}
case EV_EXIT:
@@ -299,15 +294,15 @@ State SMController::state_feedback(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_top);
+ return tranSuper(&SMA::state_top);
}
case EV_INIT:
{
- return transition(&SMController::state_armed);
+ return transition(&SMA::state_armed);
}
case TMTC_ARP_DISARM:
{
- return transition(&SMController::state_init_done);
+ return transition(&SMA::state_init_done);
}
default:
{
@@ -317,13 +312,13 @@ State SMController::state_feedback(const Event& event)
}
// Super state
-State SMController::state_no_feedback(const Event& event)
+State SMA::state_no_feedback(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::NO_FEEDBACK);
+ logStatus(SMAState::NO_FEEDBACK);
return HANDLED;
}
case EV_EXIT:
@@ -333,15 +328,15 @@ State SMController::state_no_feedback(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_top);
+ return tranSuper(&SMA::state_top);
}
case EV_INIT:
{
- return transition(&SMController::state_armed_nf);
+ return transition(&SMA::state_armed_nf);
}
case TMTC_ARP_DISARM:
{
- return transition(&SMController::state_insert_info);
+ return transition(&SMA::state_insert_info);
}
default:
{
@@ -350,13 +345,13 @@ State SMController::state_no_feedback(const Event& event)
}
}
-State SMController::state_init(const Event& event)
+State SMA::state_init(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::INIT);
+ logStatus(SMAState::INIT);
return HANDLED;
}
case EV_EXIT:
@@ -365,7 +360,7 @@ State SMController::state_init(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_config);
+ return tranSuper(&SMA::state_config);
}
case EV_INIT:
{
@@ -373,11 +368,11 @@ State SMController::state_init(const Event& event)
}
case ARP_INIT_OK:
{
- return transition(&SMController::state_init_done);
+ return transition(&SMA::state_init_done);
}
case ARP_INIT_ERROR:
{
- return transition(&SMController::state_init_error);
+ return transition(&SMA::state_init_error);
}
default:
{
@@ -386,13 +381,13 @@ State SMController::state_init(const Event& event)
}
}
-State SMController::state_init_error(const Event& event)
+State SMA::state_init_error(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::INIT_ERROR);
+ logStatus(SMAState::INIT_ERROR);
ModuleManager::getInstance().get<Leds>()->setSlowBlink(
LedColor::RED);
return HANDLED;
@@ -404,7 +399,7 @@ State SMController::state_init_error(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_config);
+ return tranSuper(&SMA::state_config);
}
case EV_INIT:
{
@@ -412,11 +407,11 @@ State SMController::state_init_error(const Event& event)
}
case TMTC_ARP_FORCE_NO_FEEDBACK:
{
- return transition(&SMController::state_insert_info);
+ return transition(&SMA::state_insert_info);
}
case TMTC_ARP_FORCE_INIT:
{
- return transition(&SMController::state_init_done);
+ return transition(&SMA::state_init_done);
}
default:
{
@@ -425,13 +420,13 @@ State SMController::state_init_error(const Event& event)
}
}
-State SMController::state_init_done(const Event& event)
+State SMA::state_init_done(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::INIT_DONE);
+ logStatus(SMAState::INIT_DONE);
ModuleManager::getInstance().get<Leds>()->setOn(LedColor::GREEN);
return HANDLED;
}
@@ -441,7 +436,7 @@ State SMController::state_init_done(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_config);
+ return tranSuper(&SMA::state_config);
}
case EV_INIT:
{
@@ -449,11 +444,11 @@ State SMController::state_init_done(const Event& event)
}
case TMTC_ARP_FORCE_NO_FEEDBACK:
{
- return transition(&SMController::state_insert_info);
+ return transition(&SMA::state_insert_info);
}
case TMTC_ARP_ARM:
{
- return transition(&SMController::state_feedback);
+ return transition(&SMA::state_feedback);
}
default:
{
@@ -462,13 +457,13 @@ State SMController::state_init_done(const Event& event)
}
}
-State SMController::state_insert_info(const Event& event)
+State SMA::state_insert_info(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::INSERT_INFO);
+ logStatus(SMAState::INSERT_INFO);
return HANDLED;
}
case EV_EXIT:
@@ -477,7 +472,7 @@ State SMController::state_insert_info(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_config);
+ return tranSuper(&SMA::state_config);
}
case EV_INIT:
{
@@ -485,7 +480,7 @@ State SMController::state_insert_info(const Event& event)
}
case TMTC_ARP_ARM:
{
- return transition(&SMController::state_no_feedback);
+ return transition(&SMA::state_no_feedback);
}
default:
{
@@ -494,13 +489,13 @@ State SMController::state_insert_info(const Event& event)
}
}
-State SMController::state_armed(const Event& event)
+State SMA::state_armed(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::ARMED);
+ logStatus(SMAState::ARMED);
ModuleManager::getInstance().get<Actuators>()->arm();
return HANDLED;
}
@@ -510,7 +505,7 @@ State SMController::state_armed(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_feedback);
+ return tranSuper(&SMA::state_feedback);
}
case EV_INIT:
{
@@ -518,11 +513,11 @@ State SMController::state_armed(const Event& event)
}
case TMTC_ARP_FOLLOW:
{
- return transition(&SMController::state_fix_antennas);
+ return transition(&SMA::state_fix_antennas);
}
case TMTC_ARP_ENTER_TEST_MODE:
{
- return transition(&SMController::state_test);
+ return transition(&SMA::state_test);
}
default:
{
@@ -531,13 +526,13 @@ State SMController::state_armed(const Event& event)
}
}
-State SMController::state_test(const Event& event)
+State SMA::state_test(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::TEST);
+ logStatus(SMAState::TEST);
return HANDLED;
}
case EV_EXIT:
@@ -546,7 +541,7 @@ State SMController::state_test(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_feedback);
+ return tranSuper(&SMA::state_feedback);
}
case EV_INIT:
{
@@ -554,11 +549,11 @@ State SMController::state_test(const Event& event)
}
case TMTC_ARP_CALIBRATE:
{
- return transition(&SMController::state_calibrate);
+ return transition(&SMA::state_calibrate);
}
case TMTC_ARP_EXIT_TEST_MODE:
{
- return transition(&SMController::state_armed);
+ return transition(&SMA::state_armed);
}
default:
{
@@ -567,13 +562,13 @@ State SMController::state_test(const Event& event)
}
}
-State SMController::state_calibrate(const Event& event)
+State SMA::state_calibrate(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::CALIBRATE);
+ logStatus(SMAState::CALIBRATE);
return HANDLED;
}
case EV_EXIT:
@@ -582,7 +577,7 @@ State SMController::state_calibrate(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_feedback);
+ return tranSuper(&SMA::state_feedback);
}
case EV_INIT:
{
@@ -590,7 +585,7 @@ State SMController::state_calibrate(const Event& event)
}
case ARP_CAL_DONE:
{
- return transition(&SMController::state_test);
+ return transition(&SMA::state_test);
}
default:
{
@@ -599,13 +594,13 @@ State SMController::state_calibrate(const Event& event)
}
}
-State SMController::state_fix_antennas(const Event& event)
+State SMA::state_fix_antennas(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::FIX_ANTENNAS);
+ logStatus(SMAState::FIX_ANTENNAS);
ModuleManager::getInstance().get<Leds>()->setFastBlink(
LedColor::ORANGE);
return HANDLED;
@@ -618,7 +613,7 @@ State SMController::state_fix_antennas(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_feedback);
+ return tranSuper(&SMA::state_feedback);
}
case EV_INIT:
{
@@ -626,11 +621,11 @@ State SMController::state_fix_antennas(const Event& event)
}
case ARP_FIX_ANTENNAS:
{
- return transition(&SMController::state_fix_rocket);
+ return transition(&SMA::state_fix_rocket);
}
case TMTC_ARP_RESET_ALGORITHM:
{
- return transition(&SMController::state_armed);
+ return transition(&SMA::state_armed);
}
default:
{
@@ -639,13 +634,13 @@ State SMController::state_fix_antennas(const Event& event)
}
}
-State SMController::state_fix_rocket(const Event& event)
+State SMA::state_fix_rocket(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::FIX_ROCKET);
+ logStatus(SMAState::FIX_ROCKET);
ModuleManager::getInstance().get<Leds>()->setFastBlink(
LedColor::YELLOW);
return HANDLED;
@@ -667,7 +662,7 @@ State SMController::state_fix_rocket(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_feedback);
+ return tranSuper(&SMA::state_feedback);
}
case EV_INIT:
{
@@ -675,11 +670,11 @@ State SMController::state_fix_rocket(const Event& event)
}
case ARP_FIX_ROCKET:
{
- return transition(&SMController::state_active);
+ return transition(&SMA::state_active);
}
case TMTC_ARP_RESET_ALGORITHM:
{
- return transition(&SMController::state_armed);
+ return transition(&SMA::state_armed);
}
default:
{
@@ -688,13 +683,13 @@ State SMController::state_fix_rocket(const Event& event)
}
}
-State SMController::state_active(const Event& event)
+State SMA::state_active(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::ACTIVE);
+ logStatus(SMAState::ACTIVE);
follower.begin();
propagator.begin();
return HANDLED;
@@ -707,7 +702,7 @@ State SMController::state_active(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_feedback);
+ return tranSuper(&SMA::state_feedback);
}
case EV_INIT:
{
@@ -715,7 +710,7 @@ State SMController::state_active(const Event& event)
}
case TMTC_ARP_RESET_ALGORITHM:
{
- return transition(&SMController::state_armed);
+ return transition(&SMA::state_armed);
}
default:
{
@@ -724,13 +719,13 @@ State SMController::state_active(const Event& event)
}
}
-State SMController::state_armed_nf(const Event& event)
+State SMA::state_armed_nf(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::ARMED_NF);
+ logStatus(SMAState::ARMED_NF);
ModuleManager::getInstance().get<Actuators>()->arm();
return HANDLED;
}
@@ -740,7 +735,7 @@ State SMController::state_armed_nf(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_no_feedback);
+ return tranSuper(&SMA::state_no_feedback);
}
case EV_INIT:
{
@@ -748,11 +743,11 @@ State SMController::state_armed_nf(const Event& event)
}
case TMTC_ARP_FOLLOW:
{
- return transition(&SMController::state_fix_rocket_nf);
+ return transition(&SMA::state_fix_rocket_nf);
}
case TMTC_ARP_ENTER_TEST_MODE:
{
- return transition(&SMController::state_test_nf);
+ return transition(&SMA::state_test_nf);
}
default:
{
@@ -761,13 +756,13 @@ State SMController::state_armed_nf(const Event& event)
}
}
-State SMController::state_test_nf(const Event& event)
+State SMA::state_test_nf(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::TEST_NF);
+ logStatus(SMAState::TEST_NF);
return HANDLED;
}
case EV_EXIT:
@@ -776,7 +771,7 @@ State SMController::state_test_nf(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_no_feedback);
+ return tranSuper(&SMA::state_no_feedback);
}
case EV_INIT:
{
@@ -784,7 +779,7 @@ State SMController::state_test_nf(const Event& event)
}
case TMTC_ARP_EXIT_TEST_MODE:
{
- return transition(&SMController::state_armed_nf);
+ return transition(&SMA::state_armed_nf);
}
default:
{
@@ -793,13 +788,13 @@ State SMController::state_test_nf(const Event& event)
}
}
-State SMController::state_fix_rocket_nf(const Event& event)
+State SMA::state_fix_rocket_nf(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::FIX_ROCKET_NF);
+ logStatus(SMAState::FIX_ROCKET_NF);
ModuleManager::getInstance().get<Leds>()->setFastBlink(
LedColor::YELLOW);
return HANDLED;
@@ -821,7 +816,7 @@ State SMController::state_fix_rocket_nf(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_no_feedback);
+ return tranSuper(&SMA::state_no_feedback);
}
case EV_INIT:
{
@@ -829,11 +824,11 @@ State SMController::state_fix_rocket_nf(const Event& event)
}
case ARP_FIX_ROCKET:
{
- return transition(&SMController::state_active_nf);
+ return transition(&SMA::state_active_nf);
}
case TMTC_ARP_RESET_ALGORITHM:
{
- return transition(&SMController::state_armed_nf);
+ return transition(&SMA::state_armed_nf);
}
default:
{
@@ -842,13 +837,13 @@ State SMController::state_fix_rocket_nf(const Event& event)
}
}
-State SMController::state_active_nf(const Event& event)
+State SMA::state_active_nf(const Event& event)
{
switch (event)
{
case EV_ENTRY:
{
- logStatus(SMControllerState::ACTIVE_NF);
+ logStatus(SMAState::ACTIVE_NF);
follower.begin();
propagator.begin();
return HANDLED;
@@ -861,7 +856,7 @@ State SMController::state_active_nf(const Event& event)
}
case EV_EMPTY:
{
- return tranSuper(&SMController::state_no_feedback);
+ return tranSuper(&SMA::state_no_feedback);
}
case EV_INIT:
{
@@ -869,7 +864,7 @@ State SMController::state_active_nf(const Event& event)
}
case TMTC_ARP_RESET_ALGORITHM:
{
- return transition(&SMController::state_armed_nf);
+ return transition(&SMA::state_armed_nf);
}
default:
{
@@ -878,7 +873,7 @@ State SMController::state_active_nf(const Event& event)
}
}
-void SMController::logStatus(SMControllerState state)
+void SMA::logStatus(SMAState state)
{
{
PauseKernelLock lock;
diff --git a/src/boards/Groundstation/Automated/SMController/SMController.h b/src/boards/Groundstation/Automated/SMA/SMA.h
similarity index 90%
rename from src/boards/Groundstation/Automated/SMController/SMController.h
rename to src/boards/Groundstation/Automated/SMA/SMA.h
index 8236f5a5d..e740a5e59 100644
--- a/src/boards/Groundstation/Automated/SMController/SMController.h
+++ b/src/boards/Groundstation/Automated/SMA/SMA.h
@@ -33,16 +33,19 @@
#include <utils/ModuleManager/ModuleManager.hpp>
-#include "SMControllerData.h"
+#include "SMAData.h"
namespace Antennas
{
-class SMController : public Boardcore::Module,
- public Boardcore::HSM<SMController>
+/**
+ * @brief SMA - State Machine for Arp is the state machine which
+ * controls the Autonomous Rocket Pointer system.
+ */
+class SMA : public Boardcore::Module, public Boardcore::HSM<SMA>
{
public:
- explicit SMController(Boardcore::TaskScheduler* scheduler);
+ explicit SMA(Boardcore::TaskScheduler* scheduler);
// FSM States
@@ -109,24 +112,23 @@ public:
/**
* @brief Getter for the current state of the FSM
*/
- SMControllerStatus getStatus() { return status; }
+ SMAStatus getStatus() { return status; }
private:
/**
* @brief Logs the current state of the FSM
* @param state The current FSM state
*/
- void logStatus(SMControllerState state);
+ void logStatus(SMAState state);
// Scheduler to be used for update function
Boardcore::TaskScheduler* scheduler;
- SMControllerStatus status;
+ SMAStatus status;
Boardcore::Propagator propagator;
Boardcore::Follower follower;
- Boardcore::PrintLogger logger =
- Boardcore::Logging::getLogger("SMController");
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("SMA");
};
} // namespace Antennas
diff --git a/src/boards/Groundstation/Automated/SMController/SMControllerData.h b/src/boards/Groundstation/Automated/SMA/SMAData.h
similarity index 92%
rename from src/boards/Groundstation/Automated/SMController/SMControllerData.h
rename to src/boards/Groundstation/Automated/SMA/SMAData.h
index f13fd8047..82f7a8053 100644
--- a/src/boards/Groundstation/Automated/SMController/SMControllerData.h
+++ b/src/boards/Groundstation/Automated/SMA/SMAData.h
@@ -30,7 +30,7 @@
namespace Antennas
{
-enum class SMControllerState : uint8_t
+enum class SMAState : uint8_t
{
INIT = 0,
INIT_ERROR,
@@ -64,10 +64,10 @@ enum class SMControllerState : uint8_t
INVALID,
};
-struct SMControllerStatus
+struct SMAStatus
{
- uint64_t timestamp = 0;
- SMControllerState state = SMControllerState::INVALID;
+ uint64_t timestamp = 0;
+ SMAState state = SMAState::INVALID;
static std::string header() { return "timestamp,state\n"; }
diff --git a/src/entrypoints/Groundstation/Automated/automated-antennas-entry.cpp b/src/entrypoints/Groundstation/Automated/automated-antennas-entry.cpp
index 3cf568bae..e59956a8b 100644
--- a/src/entrypoints/Groundstation/Automated/automated-antennas-entry.cpp
+++ b/src/entrypoints/Groundstation/Automated/automated-antennas-entry.cpp
@@ -27,7 +27,7 @@
#include <Groundstation/Automated/Leds/Leds.h>
#include <Groundstation/Automated/Ports/Ethernet.h>
#include <Groundstation/Automated/Radio/Radio.h>
-#include <Groundstation/Automated/SMController/SMController.h>
+#include <Groundstation/Automated/SMA/SMA.h>
#include <Groundstation/Automated/Sensors/Sensors.h>
#include <Groundstation/Common/Ports/Serial.h>
#include <common/Events.h>
@@ -107,7 +107,7 @@ int main()
BoardStatus *board_status = new BoardStatus();
Actuators *actuators = new Actuators();
Sensors *sensors = new Sensors();
- SMController *sm = new SMController(scheduler_high);
+ SMA *sm = new SMA(scheduler_high);
Ethernet *ethernet = new Ethernet();
// Inserting Modules
@@ -148,7 +148,7 @@ int main()
START_MODULE("Board Status", [&] { return board_status->start(); });
START_MODULE("Leds", [&] { return leds->start(); });
START_MODULE("Sensors", [&] { return sensors->start(); });
- START_MODULE("SMController", [&] { return sm->start(); });
+ START_MODULE("SMA", [&] { return sm->start(); });
actuators->start();
}
LOG_INFO(logger, "Modules setup successful");
diff --git a/src/entrypoints/Groundstation/Automated/test-smcontroller.cpp b/src/entrypoints/Groundstation/Automated/test-smcontroller.cpp
index 9df24bf57..06320cdf1 100644
--- a/src/entrypoints/Groundstation/Automated/test-smcontroller.cpp
+++ b/src/entrypoints/Groundstation/Automated/test-smcontroller.cpp
@@ -20,7 +20,7 @@
* THE SOFTWARE.
*/
-#include <Groundstation/Automated/SMController/SMController.h>
+#include <Groundstation/Automated/SMA/SMA.h>
#include <common/Events.h>
#include <common/Topics.h>
#include <events/EventBroker.h>
@@ -44,22 +44,22 @@
}
#define TEST_STATE(INITIAL_STATE, EVENT, TOPIC_SM, FINAL_STATE) \
- sm->forceState(&SMController::INITIAL_STATE); \
+ sm->forceState(&SMA::INITIAL_STATE); \
EventBroker::getInstance().post(EVENT, TOPIC_SM); \
Thread::sleep(20); \
TRACE("Testing %-26s in " #INITIAL_STATE " -> " #FINAL_STATE " ... ", \
getEventString(EVENT).c_str()); \
- correct = sm->testState(&SMController::FINAL_STATE); \
+ correct = sm->testState(&SMA::FINAL_STATE); \
printf(correct ? "OK\n" : "FAIL\n"); \
ok &= correct;
#define TEST_NO_TRANSITION(INITIAL_STATE, EVENT, TOPIC_SM) \
- sm->forceState(&SMController::INITIAL_STATE); \
+ sm->forceState(&SMA::INITIAL_STATE); \
EventBroker::getInstance().post(EVENT, TOPIC_SM); \
Thread::sleep(20); \
TRACE("Testing %-26s in " #INITIAL_STATE " -X ... ", \
getEventString(EVENT).c_str()); \
- correct = sm->testState(&SMController::INITIAL_STATE); \
+ correct = sm->testState(&SMA::INITIAL_STATE); \
printf(correct ? "OK\n" : "FAIL\n"); \
ok &= correct;
@@ -87,7 +87,7 @@ using namespace Boardcore;
using namespace Common;
using namespace Antennas;
-SMController* sm = new SMController();
+SMA* sm = new SMA();
int main()
{
@@ -97,7 +97,7 @@ int main()
std::vector<Events> tmtc_events = TMTC_EVENTS;
sm->start();
- TRACE("SMController started\n");
+ TRACE("SMA started\n");
// TEST STATE: INIT
TEST_STATE(state_init, ARP_INIT_OK, TOPIC_ARP, state_init_done);
@@ -195,7 +195,7 @@ int main()
state_armed_nf);
TEST_ALL_OTHER(state_active_nf, TMTC_ARP_DISARM, TMTC_ARP_RESET_ALGORITHM);
- TRACE("Testing SMController ... ");
+ TRACE("Testing SMA ... ");
ok ? printf("OK\n") : printf("FAIL\n");
return 0;
}
--
GitLab