Merge pull request #14 from lasp/feature/update-all-components

Update all components

Author: patkenneally

.github/workflows/publish_all.yml

@@ -26,19 +26,22 @@ jobs:
         uses: actions/checkout@v4
         with:
           set-safe-directory: true
-          # Use dinkelk cmake-update fork for now until compilation is fixed for Linux
-          repository: dinkelk/fp32-fsw-xmera
+          repository: lasp/fp32-fsw-xmera
           path: fp32-fsw-xmera
-          ref: cmake-update
+          ref: develop
       - name: Clone adamant repository
         uses: actions/checkout@v4
         with:
           set-safe-directory: true
           repository: lasp/adamant
           path: adamant
-      - name: Clone Eigen 3.4.1 from GitLab
-        run: |
-          git clone --depth 1 --branch 3.4.1 https://gitlab.com/libeigen/eigen.git eigen
+      - name: Clone Eigen with freestanding support
+        uses: actions/checkout@v4
+        with:
+          set-safe-directory: true
+          repository: lasp/eigen
+          path: eigen
+          ref: feature/freestanding
       - name: Build all documentation
         run: bash adamant-xmera-components/env/github_run.sh "redo adamant-xmera-components/publish"
       - run: echo "Finished with status - ${{ job.status }}."

.github/workflows/publish_all_arm64.yml

@@ -31,14 +31,17 @@ jobs:
         uses: actions/checkout@v4
         with:
           set-safe-directory: true
-          # Use dinkelk cmake-update fork for now until compilation is fixed for Linux
-          repository: dinkelk/fp32-fsw-xmera
+          repository: lasp/fp32-fsw-xmera
           path: fp32-fsw-xmera
-          ref: cmake-update
+          ref: develop
 
-      - name: Clone Eigen 3.4.1 from GitLab
-        run: |
-          git clone --depth 1 --branch 3.4.1 https://gitlab.com/libeigen/eigen.git eigen
+      - name: Clone Eigen with freestanding support
+        uses: actions/checkout@v4
+        with:
+          set-safe-directory: true
+          repository: lasp/eigen
+          path: eigen
+          ref: feature/freestanding
 
       - name: Build all documentation
         run: |

.github/workflows/style_all.yml

@@ -26,19 +26,22 @@ jobs:
         uses: actions/checkout@v4
         with:
           set-safe-directory: true
-          # Use dinkelk cmake-update fork for now until compilation is fixed for Linux
-          repository: dinkelk/fp32-fsw-xmera
+          repository: lasp/fp32-fsw-xmera
           path: fp32-fsw-xmera
-          ref: cmake-update
+          ref: develop
       - name: Clone adamant repository
         uses: actions/checkout@v4
         with:
           set-safe-directory: true
           repository: lasp/adamant
           path: adamant
-      - name: Clone Eigen 3.4.1 from GitLab
-        run: |
-          git clone --depth 1 --branch 3.4.1 https://gitlab.com/libeigen/eigen.git eigen
+      - name: Clone Eigen with freestanding support
+        uses: actions/checkout@v4
+        with:
+          set-safe-directory: true
+          repository: lasp/eigen
+          path: eigen
+          ref: feature/freestanding
       - name: Check all style
         run: bash adamant-xmera-components/env/github_run.sh "redo adamant-xmera-components/style_all"
       - name: Archive logs for failed style checks

.github/workflows/style_all_arm64.yml

@@ -31,14 +31,17 @@ jobs:
         uses: actions/checkout@v4
         with:
           set-safe-directory: true
-          # Use dinkelk cmake-update fork for now until compilation is fixed for Linux
-          repository: dinkelk/fp32-fsw-xmera
+          repository: lasp/fp32-fsw-xmera
           path: fp32-fsw-xmera
-          ref: cmake-update
+          ref: develop
 
-      - name: Clone Eigen 3.4.1 from GitLab
-        run: |
-          git clone --depth 1 --branch 3.4.1 https://gitlab.com/libeigen/eigen.git eigen
+      - name: Clone Eigen with freestanding support
+        uses: actions/checkout@v4
+        with:
+          set-safe-directory: true
+          repository: lasp/eigen
+          path: eigen
+          ref: feature/freestanding
 
       - name: Check all style
         run: |

.github/workflows/test_all.yml

@@ -26,19 +26,22 @@ jobs:
         uses: actions/checkout@v4
         with:
           set-safe-directory: true
-          # Use dinkelk cmake-update fork for now until compilation is fixed for Linux
-          repository: dinkelk/fp32-fsw-xmera
+          repository: lasp/fp32-fsw-xmera
           path: fp32-fsw-xmera
-          ref: cmake-update
+          ref: develop
       - name: Clone adamant repository
         uses: actions/checkout@v4
         with:
           set-safe-directory: true
           repository: lasp/adamant
           path: adamant
-      - name: Clone Eigen 3.4.1 from GitLab
-        run: |
-          git clone --depth 1 --branch 3.4.1 https://gitlab.com/libeigen/eigen.git eigen
+      - name: Clone Eigen with freestanding support
+        uses: actions/checkout@v4
+        with:
+          set-safe-directory: true
+          repository: lasp/eigen
+          path: eigen
+          ref: feature/freestanding
       - name: Run all unit tests and coverage
         run: bash adamant-xmera-components/env/github_run.sh "redo adamant-xmera-components/coverage_all"
       - name: Archive logs for failed unit tests

.github/workflows/test_all_arm64.yml

@@ -31,14 +31,17 @@ jobs:
         uses: actions/checkout@v4
         with:
           set-safe-directory: true
-          # Use dinkelk cmake-update fork for now until compilation is fixed for Linux
-          repository: dinkelk/fp32-fsw-xmera
+          repository: lasp/fp32-fsw-xmera
           path: fp32-fsw-xmera
-          ref: cmake-update
+          ref: develop
 
-      - name: Clone Eigen 3.4.1 from GitLab
-        run: |
-          git clone --depth 1 --branch 3.4.1 https://gitlab.com/libeigen/eigen.git eigen
+      - name: Clone Eigen with freestanding support
+        uses: actions/checkout@v4
+        with:
+          set-safe-directory: true
+          repository: lasp/eigen
+          path: eigen
+          ref: feature/freestanding
 
       - name: Run all unit tests and coverage
         run: |

src/components/attitude_tracking_error/att_tracking_error_algorithm_c.ads

@@ -30,16 +30,14 @@ package Att_Tracking_Error_Algorithm_C is
           External_Name => "AttTrackingErrorAlgorithm_destroy";
 
    --* @brief Run the update step of the attitude tracking error algorithm.
-   --* @param Self              The algorithm instance.
-   --* @param Current_Sim_Nanos Current simulation time (ns).
-   --* @param Att_Ref_In        Pointer to reference-frame message payload.
-   --* @param Att_Nav_In        Pointer to navigation attitude message payload.
+   --* @param Self       The algorithm instance.
+   --* @param Att_Ref_In Pointer to reference-frame message payload.
+   --* @param Att_Nav_In Pointer to navigation attitude message payload.
    --* @return Computed guidance message payload.
    function Update
-     (Self               : Att_Tracking_Error_Algorithm_Access;
-      Current_Sim_Nanos  : Unsigned_64;
-      Att_Ref_In         : Att_Ref.C.U_C_Access;
-      Att_Nav_In         : Nav_Att.C.U_C_Access)
+     (Self       : Att_Tracking_Error_Algorithm_Access;
+      Att_Ref_In : Att_Ref.C.U_C_Access;
+      Att_Nav_In : Nav_Att.C.U_C_Access)
      return Att_Guid.C.U_C
      with Import       => True,
           Convention   => C,

src/components/attitude_tracking_error/component-attitude_tracking_error-implementation.adb

@@ -60,8 +60,6 @@ package body Component.Attitude_Tracking_Error.Implementation is
             Nav_C : aliased Nav_Att.C.U_C := Nav_Att.C.To_C (Nav_Att.Unpack (Nav));
             Guid : constant Att_Guid.C.U_C := Update (
                Self.Alg,
-               -- TODO, this is unused by algorithm, need to remove from C interface
-               Current_Sim_Nanos => 0,
                Att_Ref_In => Ref_C'Unchecked_Access,
                Att_Nav_In => Nav_C'Unchecked_Access
             );

…nents/stepper_motor_controller/.all_path …omponents/body_rate_miscompare/.all_pathsrc/components/stepper_motor_controller/.all_path renamed to src/components/body_rate_miscompare/.all_path src/components/stepper_motor_controller/.all_path renamed to src/components/body_rate_miscompare/.all_path

@@ -1,8 +1,8 @@
 ---
-description: Stepper motor controller algorithm computes commanded motor steps from the reference angle input.
+description: Compares IMU and star tracker body rates and falls back to IMU solution if they disagree.
 execution: passive
 init:
-  description: Initializes the stepper motor controller algorithm.
+  description: Initializes the body rate miscompare algorithm.
 connectors:
   - description: Run the algorithm up to the current time.
     type: Tick.T
@@ -11,8 +11,8 @@ connectors:
     type: Data_Product_Fetch.T
     return_type: Data_Product_Return.T
     kind: request
-  - description: The motor step command output connector
-    type: Motor_Step_Command.T
+  - description: The data product invoker connector
+    type: Data_Product.T
     kind: send
   - description: The parameter update connector.
     type: Parameter_Update.T