Rename PrescribedTrans module messages

The module's PrescribedTransMsgPayload message is replaced with the new LinearTranslationRigidBodyMsgPayload message

Author: leahkiner

src/fswAlgorithms/effectorInterfaces/prescribedTrans/_UnitTest/test_prescribedTrans.py

@@ -114,11 +114,11 @@ def prescribedTransTestFunction(show_plots, scalarPosInit, scalarPosRef, scalarA
 
  # Create input message
  scalarVelRef = 0.0 # [m/s]
- PrescribedTransMessageData = messaging.PrescribedTransMsgPayload()
- PrescribedTransMessageData.scalarPos = scalarPosRef
- PrescribedTransMessageData.scalarVel = scalarVelRef
- PrescribedTransMessage = messaging.PrescribedTransMsg().write(PrescribedTransMessageData)
- PrescribedTrans.prescribedTransInMsg.subscribeTo(PrescribedTransMessage)
+ linearTranslationRigidBodyMessageData = messaging.LinearTranslationRigidBodyMsgPayload()
+ linearTranslationRigidBodyMessageData.rho = scalarPosRef
+ linearTranslationRigidBodyMessageData.rhoDot = scalarVelRef
+ linearTranslationRigidBodyMessage = messaging.LinearTranslationRigidBodyMsg().write(linearTranslationRigidBodyMessageData)
+ PrescribedTrans.linearTranslationRigidBodyInMsg.subscribeTo(linearTranslationRigidBodyMessage)
 
  # Setup logging on the test module output message so that we get all the writes to it
  dataLog = PrescribedTrans.prescribedMotionOutMsg.recorder()

src/fswAlgorithms/effectorInterfaces/prescribedTrans/prescribedTrans.c

@@ -49,8 +49,8 @@ void SelfInit_prescribedTrans(PrescribedTransConfig *configData, int64_t moduleI
 void Reset_prescribedTrans(PrescribedTransConfig *configData, uint64_t callTime, int64_t moduleID)
 {
  // Check if the input message is connected
- if (!PrescribedTransMsg_C_isLinked(&configData->prescribedTransInMsg)) {
- _bskLog(configData->bskLogger, BSK_ERROR, "Error: prescribedTrans.prescribedTransInMsg wasn't connected.");
+ if (!LinearTranslationRigidBodyMsg_C_isLinked(&configData->linearTranslationRigidBodyInMsg)) {
+ _bskLog(configData->bskLogger, BSK_ERROR, "Error: prescribedTrans.linearTranslationRigidBodyInMsg wasn't connected.");
  }
 
  // Set the initial time
@@ -71,29 +71,29 @@ motion output message.
 void Update_prescribedTrans(PrescribedTransConfig *configData, uint64_t callTime, int64_t moduleID)
 {
  // Create the buffer messages
- PrescribedTransMsgPayload prescribedTransIn;
+ LinearTranslationRigidBodyMsgPayload linearTranslationRigidBodyIn;
  PrescribedMotionMsgPayload prescribedMotionOut;
 
  // Zero the output message
  prescribedMotionOut = PrescribedMotionMsg_C_zeroMsgPayload();
 
  // Read the input message
- prescribedTransIn = PrescribedTransMsg_C_zeroMsgPayload();
- if (PrescribedTransMsg_C_isWritten(&configData->prescribedTransInMsg))
+ linearTranslationRigidBodyIn = LinearTranslationRigidBodyMsg_C_zeroMsgPayload();
+ if (LinearTranslationRigidBodyMsg_C_isWritten(&configData->linearTranslationRigidBodyInMsg))
  {
- prescribedTransIn = PrescribedTransMsg_C_read(&configData->prescribedTransInMsg);
+ linearTranslationRigidBodyIn = LinearTranslationRigidBodyMsg_C_read(&configData->linearTranslationRigidBodyInMsg);
  }
 
  // This loop is entered when a new maneuver is requested after all previous maneuvers are completed
- if (PrescribedTransMsg_C_timeWritten(&configData->prescribedTransInMsg) <= callTime && configData->convergence)
+ if (LinearTranslationRigidBodyMsg_C_timeWritten(&configData->linearTranslationRigidBodyInMsg) <= callTime && configData->convergence)
  {
  // Store the initial information
  configData->tInit = callTime * NANO2SEC;
  configData->scalarPosInit = v3Norm(configData->r_FM_M);
  configData->scalarVelInit = v3Norm(configData->rPrime_FM_M);
 
  // Store the reference information
- configData->scalarPosRef = prescribedTransIn.scalarPos;
+ configData->scalarPosRef = linearTranslationRigidBodyIn.rho;
  configData->scalarVelRef = 0.0;
 
  // Define temporal information

src/fswAlgorithms/effectorInterfaces/prescribedTrans/prescribedTrans.h

@@ -23,7 +23,7 @@
 #include <stdbool.h>
 #include "architecture/utilities/bskLogging.h"
 #include "cMsgCInterface/PrescribedMotionMsg_C.h"
-#include "cMsgCInterface/PrescribedTransMsg_C.h"
+#include "cMsgCInterface/LinearTranslationRigidBodyMsg_C.h"
 
 /*! @brief Top level structure for the sub-module routines. */
 typedef struct {
@@ -51,10 +51,10 @@ typedef struct {
  double b; //!< Parabolic constant for the second half of the maneuver
 
  // Messages
- PrescribedTransMsg_C prescribedTransInMsg;  //!< Input message for the reference states
- PrescribedMotionMsg_C prescribedMotionOutMsg; //!< Output message for the prescribed states
+ LinearTranslationRigidBodyMsg_C linearTranslationRigidBodyInMsg; //!< Input message for the reference states
+ PrescribedMotionMsg_C prescribedMotionOutMsg;  //!< Output message for the prescribed states
 
- BSKLogger *bskLogger; //!< BSK Logging
+ BSKLogger *bskLogger;  //!< BSK Logging
 
 }PrescribedTransConfig;
 

src/fswAlgorithms/effectorInterfaces/prescribedTrans/prescribedTrans.i

@@ -27,8 +27,8 @@
 %include "architecture/msgPayloadDefC/PrescribedMotionMsgPayload.h"
 struct PrescribedMotionMsg_C;
 
-%include "architecture/msgPayloadDefC/PrescribedTransMsgPayload.h"
-struct PrescribedTransMsg_C;
+%include "architecture/msgPayloadDefC/LinearTranslationRigidBodyMsgPayload.h"
+struct LinearTranslationRigidBodyMsg_C;
 
 %pythoncode %{
 import sys

src/fswAlgorithms/effectorInterfaces/prescribedTrans/prescribedTrans.rst

@@ -35,8 +35,8 @@ provides information on what this message is used for.
  * - Msg Variable Name
  - Msg Type
  - Description
- * - prescribedTransInMsg
- - :ref:`PrescribedTransMsgPayload`
+ * - linearTranslationRigidBodyInMsg
+ - :ref:`LinearTranslationRigidBodyMsgPayload`
  - input msg with the prescribed body reference states
  * - prescribedTransOutMsg
  - :ref:`PrescribedTransMsgPayload`