Merge pull request #77 from ut-issl/feature/modify-coding-rule

Modify to suit with S2E-CORE Coding rule

data/initialize_files/satellite.ini

@@ -98,16 +98,16 @@ scenario_file_path  = ../../data/initialize_files/scenario/scenario.ini
 
 [COMPONENTS_FILE]
 // AOCS
-gyro_h_file = ../../data/initialize_files/components/stim210.ini
+fine_gyro_sensor_file = ../../data/initialize_files/components/stim210.ini
 gyro_l_file = ../../data/initialize_files/components/mpu9250.ini
-magsensor_h_aobc_file  = ../../data/initialize_files/components/rm3100_aobc.ini
-magsensor_h_ext_file  = ../../data/initialize_files/components/rm3100_external.ini
-magsensor_l_file  = ../../data/initialize_files/components/mpu9250.ini
-ss_file   = ../../data/initialize_files/components/nanossoc_d60.ini
-stt_file  = ../../data/initialize_files/components/sagitta.ini
-gnssr_file = ../../data/initialize_files/components/oem7600.ini
-rw_file   = ../../data/initialize_files/components/rw0003.ini
-mtq_file  = ../../data/initialize_files/components/mtq_seiren.ini
+fine_magnetometer_file  = ../../data/initialize_files/components/rm3100_aobc.ini
+external_fine_magnetometer_file  = ../../data/initialize_files/components/rm3100_external.ini
+coarse_magnetometer_file  = ../../data/initialize_files/components/mpu9250.ini
+sun_sensor_file   = ../../data/initialize_files/components/nanossoc_d60.ini
+star_sensor_file  = ../../data/initialize_files/components/sagitta.ini
+gnss_receiver_file = ../../data/initialize_files/components/oem7600.ini
+reaction_wheel_file   = ../../data/initialize_files/components/rw0003.ini
+magnetorquer_file  = ../../data/initialize_files/components/mtq_seiren.ini
 thruster_file = ../../data/initialize_files/components/thruster.ini
 // Electric Power System
 power_controller_file  = ../../data/initialize_files/components/power_controller.ini
@@ -132,8 +132,8 @@ stim210_hils_port_id = 4
 stim210_baud_rate = 460800
 
 //I2C
-mpu9250_gyro_hils_port_id = 11
-mpu9250_mag_hils_port_id = 12
+mpu9250_gyro_sensor_hils_port_id = 11
+mpu9250_magnetometer_hils_port_id = 12
 rm3100_aobc_hils_port_id = 6
 rm3100_ext_hils_port_id = 5
 nanoSSOC_d60_idx_0_hils_port_id = 7

src/component/aocs/aobc.cpp

@@ -7,15 +7,17 @@
 
 #include <library/utilities/macros.hpp>
 
-#include "../../simulation/spacecraft/aocs_module_components.h"
+#include "../../simulation/spacecraft/aocs_module_components.hpp"
 
-AOBC::AOBC(ClockGenerator *clock_gen, AocsModuleComponents *components) : Component(100, clock_gen), components_(components) { Initialize(); }
+Aobc::Aobc(ClockGenerator *clock_generator, AocsModuleComponents *components) : Component(100, clock_generator), components_(components) {
+  Initialize();
+}
 
-AOBC::~AOBC() { delete components_; }
+Aobc::~Aobc() { delete components_; }
 
-void AOBC::Initialize() {}
+void Aobc::Initialize() {}
 
-void AOBC::MainRoutine(int count) {
-  UNUSED(count);
+void Aobc::MainRoutine(const int time_count) {
+  UNUSED(time_count);
   // Currently, this class is not used.
 }

src/component/aocs/aobc.hpp

@@ -11,23 +11,23 @@
 class AocsModuleComponents;
 
 /**
- * @class AOBC
+ * @class Aobc
  * @brief Class to emulate AOBC
  */
-class AOBC : public Component {
+class Aobc : public Component {
  public:
   /**
-   * @fn AOBC
+   * @fn Aobc
    * @brief Constructor
-   * @param [in] clock_gen: Clock generator
+   * @param [in] clock_generator: Clock generator
    * @param [in] components: Components connected to the AOBC
    */
-  AOBC(ClockGenerator *clock_gen, AocsModuleComponents *components);
+  Aobc(ClockGenerator *clock_generator, AocsModuleComponents *components);
   /**
-   * @fn ~AOBC
+   * @fn ~Aobc
    * @brief Destructor
    */
-  ~AOBC();
+  ~Aobc();
 
   /**
    * @fn Initialize
@@ -43,7 +43,7 @@ class AOBC : public Component {
    * @fn MainRoutine
    * @brief Main routine for sensor observation
    */
-  void MainRoutine(int count);
+  void MainRoutine(const int time_count);
 };
 
 #endif  // S2E_AOBC_COMPONENT_AOCS_AOBC_HPP_

src/component/aocs/cube_wheel.cpp

@@ -1,27 +1,27 @@
 #include "cube_wheel.h"
 
-CubeWheel::CubeWheel(RWModel rw_model, const int port_id, const unsigned char i2c_addr, OBC* obc)
-    : RWModel(rw_model), ObcI2cCommunicationBase(port_id, i2c_addr, obc) {
-  port_id_ = i2c_addr - 0x67;  // port_idは1固定のため。
+CubeWheel::CubeWheel(RWModel rw_model, const int port_id, const unsigned char i2c_address, OBC* obc)
+    : RWModel(rw_model), ObcI2cCommunicationBase(port_id, i2c_address, obc) {
+  port_id_ = i2c_address - 0x67;  // port_idは1固定のため。
 
   unsigned char data[] = {0x08};
 
-  if (i2c_addr == 0x68) {
+  if (i2c_address == 0x68) {
     WriteRegister(0x80, data, 1);
     data[0] = 0xd0;
     WriteRegister(0x83, data, 1);
-  } else if (i2c_addr == 0x69) {
+  } else if (i2c_address == 0x69) {
     WriteRegister(0x80, data, 1);
     data[0] = 0xd2;
     WriteRegister(0x83, data, 1);
-  } else if (i2c_addr == 0x6A) {
+  } else if (i2c_address == 0x6A) {
     WriteRegister(0x80, data, 1);
     data[0] = 0xd4;
     WriteRegister(0x83, data, 1);
   }
 }
 
-void CubeWheel::MainRoutine(int count) {
+void CubeWheel::MainRoutine(const int time_count) {
   // Control Modeの取得と処理
   ReadRegister(kWriteCmdControlMode_, &control_mode_, 1);
 
@@ -58,11 +58,11 @@ void CubeWheel::MainRoutine(int count) {
       if (commanded_speed_rpm < current_speed_rpm) {
         sign = -1;
       }
-      double speed_cmd_cycle_in_sec = 0.5;
-      double target_omega_dash = to_add_rad_s / speed_cmd_cycle_in_sec * sign;
+      double speed_command_cycle_in_sec = 0.5;
+      double target_angular_velocity_dash = to_add_rad_s / speed_command_cycle_in_sec * sign;
 
       // 指令トルクをセット。
-      double torque_Nm = target_omega_dash * 0.00000211;
+      double torque_Nm = target_angular_velocity_dash * 0.00000211;
       SetTargetTorqueRw(torque_Nm);
 
       // dummy値を書き込む。次にspeed cmdを受信するまで処理をしないため。

src/component/aocs/cube_wheel.h → src/component/aocs/cube_wheel.hpp

@@ -6,10 +6,10 @@
 
 class CubeWheel : public RWModel, public ObcI2cCommunicationBase {
  public:
-  CubeWheel(RWModel rw_model, const int port_id, const unsigned char i2c_addr, OBC* obc);
+  CubeWheel(RWModel rw_model, const int port_id, const unsigned char i2c_address, OBC* obc);
 
   // Override: RWModel functions
-  void MainRoutine(int count) override;
+  void MainRoutine(const int time_count) override;
   std::string GetLogHeader() const override;
 
  private:
@@ -21,7 +21,7 @@ class CubeWheel : public RWModel, public ObcI2cCommunicationBase {
   unsigned char encoder_state_ = 0;
   unsigned char error_flag_ = 0;
 
-  double lsb2nT_ = 13.0;
+  double kLsb2nT_ = 13.0;
   int port_id_ = 0;
 
   // Write Command

src/component/aocs/mpu9250_gyro.cpp → src/component/aocs/mpu9250_gyro_sensor.cpp

@@ -1,24 +1,24 @@
 /**
- * @file mpu9250_gyro.cpp
+ * @file mpu9250_gyro_sensor.cpp
  * @brief Class to emulate gyro sensor in MPU9250 9 axis sensor
  */
 
-#include "mpu9250_gyro.hpp"
+#include "mpu9250_gyro_sensor.hpp"
 
 #include <library/math/constants.hpp>
 #include <library/utilities/macros.hpp>
 
-MPU9250_GYRO::MPU9250_GYRO(GyroSensor gyro, const int sils_port_id, const unsigned int hils_port_id, const unsigned char i2c_addr,
-                           OnBoardComputer *obc, HilsPortManager *hils_port_manager)
-    : GyroSensor(gyro), I2cTargetCommunicationWithObc(sils_port_id, hils_port_id, i2c_addr, obc, hils_port_manager) {
+Mpu9250GyroSensor::Mpu9250GyroSensor(GyroSensor gyro, const int sils_port_id, const unsigned int hils_port_id, const unsigned char i2c_address,
+                                     OnBoardComputer *obc, HilsPortManager *hils_port_manager)
+    : GyroSensor(gyro), I2cTargetCommunicationWithObc(sils_port_id, hils_port_id, i2c_address, obc, hils_port_manager) {
   unsigned char tmp = 0xff;
   WriteRegister(kCmdGyroEnable_, &tmp, 1);  // 初期値としてはGyro OFF
 
   SetConvertCoefficients();
 }
 
-void MPU9250_GYRO::MainRoutine(int count) {
-  UNUSED(count);
+void Mpu9250GyroSensor::MainRoutine(const int time_count) {
+  UNUSED(time_count);
   // Read Registers
   ReadCmdGyroEnable();
   ReadCmdMagEnable();
@@ -31,78 +31,78 @@ void MPU9250_GYRO::MainRoutine(int count) {
     WriteGyroTlm();
   }
 
-  int cmd_size = ReceiveCommand();
-  if (cmd_size != 1) return;  // length == 1 means setting of read register address
+  int command_size = ReceiveCommand();
+  if (command_size != 1) return;  // length == 1 means setting of read register address
   // これ以降はHILS用に事前にテレメトリを溜めておく
   const int kTlmSize = 14;
   StoreTelemetry(kStoredFrameSize, kTlmSize);
   return;
 }
 
-void MPU9250_GYRO::ReadCmdGyroEnable() {
+void Mpu9250GyroSensor::ReadCmdGyroEnable() {
   unsigned char tmp = 0xff;
   ReadRegister(kCmdGyroEnable_, &tmp, 1);
   if (tmp == 0x00) is_gyro_on_ = true;
 
   return;
 }
 
-void MPU9250_GYRO::ReadCmdMagEnable() {
+void Mpu9250GyroSensor::ReadCmdMagEnable() {
   unsigned char tmp[2] = {0xff, 0xff};
   ReadCommand(tmp, 2);
   if (tmp[0] != kCmdMagEnable_) return;
 
-  if (tmp[1] == 0x02) is_mag_on_ = true;  // 0x02 means turn on mag
+  if (tmp[1] == 0x02) is_magnetometer_on_ = true;  // 0x02 means turn on mag
 
   return;
 }
 
-void MPU9250_GYRO::ReadCmdGyroLpf() {
+void Mpu9250GyroSensor::ReadCmdGyroLpf() {
   // TODO 6Uでの利用では固定値なので、中身の実装は優先度低
   return;
 }
 
-void MPU9250_GYRO::ReadCmdGyroRange() {
+void Mpu9250GyroSensor::ReadCmdGyroRange() {
   // TODO 6Uでの利用では固定値なので、中身の実装は優先度低
   return;
 }
 
-void MPU9250_GYRO::ReadCmdAccLpf() {
+void Mpu9250GyroSensor::ReadCmdAccelerometerLpf() {
   // TODO 6Uでの利用では固定値なので、中身の実装は優先度低
   return;
 }
 
-void MPU9250_GYRO::ReadCmdAccRange() {
+void Mpu9250GyroSensor::ReadCmdAccelerometerRange() {
   // TODO 6Uでの利用では固定値なので、中身の実装は優先度低
   return;
 }
 
-void MPU9250_GYRO::WriteGyroTlm() {
+void Mpu9250GyroSensor::WriteGyroTlm() {
   unsigned char tlm[kMpuTlmSize_] = {0, 0};
   unsigned char reg_id = kRegObsGyro_;
 
-  // Acc
+  // Accelerometer
   for (size_t i = 0; i < kGyroDimension; i++) {
-    Convert2Tlm(tlm, acc_c_G_[i] * acc_convert_G_to_raw_);
+    Convert2Tlm(tlm, accelerometer_c_G_[i] * accelerometer_convert_G_to_raw_);
     WriteRegister(reg_id, tlm, kMpuTlmSize_);
     reg_id += kMpuTlmSize_;
   }
   // Temperature
-  Convert2Tlm(tlm, (temperature_degC_ - temp_offset_degC_) * temp_convert_degC_to_raw_);
+  Convert2Tlm(tlm, (temperature_degC_ - temperature_offset_degC_) * temperature_convert_degC_to_raw_);
   WriteRegister(reg_id, tlm, kMpuTlmSize_);
   reg_id += kMpuTlmSize_;
   // Gyro
   for (size_t i = 0; i < kGyroDimension; i++) {
-    double omega_c_deg_s = angular_velocity_c_rad_s_[i] * libra::rad_to_deg;
-    Convert2Tlm(tlm, omega_c_deg_s * omega_convert_deg_s_to_raw_);
+    double angular_velocity_c_deg_s = angular_velocity_c_rad_s_[i] * libra::rad_to_deg;
+    Convert2Tlm(tlm, angular_velocity_c_deg_s * angular_velocity_convert_deg_s_to_raw_);
     WriteRegister(reg_id, tlm, kMpuTlmSize_);
     reg_id += kMpuTlmSize_;
   }
 
   return;
 }
 
-void MPU9250_GYRO::Convert2Tlm(unsigned char tlm[kMpuTlmSize_], const double value) {
+void Mpu9250GyroSensor::Convert2Tlm(unsigned char tlm[kMpuTlmSize_], const double value) {
   signed short tlm_s = (signed short)(value);
 
   for (int i = 0; i < kMpuTlmSize_; i++) {
@@ -112,8 +112,8 @@ void MPU9250_GYRO::Convert2Tlm(unsigned char tlm[kMpuTlmSize_], const double val
   return;
 }
 
-void MPU9250_GYRO::SetConvertCoefficients() {
-  omega_convert_deg_s_to_raw_ = raw_max_ / omega_max_deg_s_;
-  acc_convert_G_to_raw_ = raw_max_ / acc_max_G_;
+void Mpu9250GyroSensor::SetConvertCoefficients() {
+  angular_velocity_convert_deg_s_to_raw_ = raw_max_ / angular_velocity_max_deg_s_;
+  accelerometer_convert_G_to_raw_ = raw_max_ / accelerometer_max_G_;
   return;
 }