eive-obsw/mission/system/tcs/tcsModeTree.cpp

#include "tcsModeTree.h"

#include "eive/objects.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/subsystem/Subsystem.h"
#include "mission/system/treeUtil.h"

TcsSubsystem satsystem::tcs::SUBSYSTEM(objects::TCS_SUBSYSTEM, 12, 24);

namespace {
// Alias for checker function
const auto check = subsystem::checkInsert;
void buildOffSequence(Subsystem& ss, ModeListEntry& eh, bool commandPlPcdu1);
void buildNormalSequence(Subsystem& ss, ModeListEntry& eh, bool commandPlPcdu1);
}  // namespace

static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;

auto TCS_SEQUENCE_OFF = std::make_pair(OFF, FixedArrayList<ModeListEntry, 3>());
auto TCS_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 2>());
auto TCS_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 2>());
auto TCS_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 3, FixedArrayList<ModeListEntry, 7>());

auto TCS_SEQUENCE_NORMAL = std::make_pair(NML, FixedArrayList<ModeListEntry, 3>());
auto TCS_TABLE_NORMAL_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 2>());
auto TCS_TABLE_NORMAL_TRANS_0 = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 7>());
auto TCS_TABLE_NORMAL_TRANS_1 = std::make_pair((NML << 24) | 3, FixedArrayList<ModeListEntry, 2>());

Subsystem& satsystem::tcs::init(bool commandPlPcdu1) {
  ModeListEntry entry;
  buildOffSequence(SUBSYSTEM, entry, commandPlPcdu1);
  buildNormalSequence(SUBSYSTEM, entry, commandPlPcdu1);
  SUBSYSTEM.setInitialMode(OFF);
  return SUBSYSTEM;
}

namespace {

void buildOffSequence(Subsystem& ss, ModeListEntry& eh, bool commandPlPcdu1) {
  std::string context = "satsystem::tcs::buildOffSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    check(table.insert(eh), ctxc);
  };
  // Insert Helper Sequence
  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
                 bool checkSuccess) {
    eh.setTableId(tableId);
    eh.setWaitSeconds(waitSeconds);
    eh.setCheckSuccess(checkSuccess);
    check(sequence.insert(eh), ctxc);
  };

  // OFF target table is empty
  check(ss.addTable(TableEntry(TCS_TABLE_OFF_TGT.first, &TCS_TABLE_OFF_TGT.second)), ctxc);

  // Transition 1
  iht(objects::THERMAL_CONTROLLER, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
  check(ss.addTable(TableEntry(TCS_TABLE_OFF_TRANS_0.first, &TCS_TABLE_OFF_TRANS_0.second)), ctxc);

  iht(objects::TCS_BOARD_ASS, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
  iht(objects::TMP1075_HANDLER_TCS_0, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
  iht(objects::TMP1075_HANDLER_TCS_1, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
  iht(objects::TMP1075_HANDLER_PLPCDU_0, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
  if (commandPlPcdu1) {
    iht(objects::TMP1075_HANDLER_PLPCDU_1, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
  }
  iht(objects::TMP1075_HANDLER_IF_BOARD, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
  check(ss.addTable(TableEntry(TCS_TABLE_OFF_TRANS_1.first, &TCS_TABLE_OFF_TRANS_1.second)), ctxc);

  ihs(TCS_SEQUENCE_OFF.second, TCS_TABLE_OFF_TGT.first, 0, false);
  ihs(TCS_SEQUENCE_OFF.second, TCS_TABLE_OFF_TRANS_0.first, 0, false);
  ihs(TCS_SEQUENCE_OFF.second, TCS_TABLE_OFF_TRANS_1.first, 0, false);
  check(ss.addSequence(SequenceEntry(TCS_SEQUENCE_OFF.first, &TCS_SEQUENCE_OFF.second,
                                     TCS_SEQUENCE_OFF.first)),
        ctxc);
}

void buildNormalSequence(Subsystem& ss, ModeListEntry& eh, bool commandPlPcdu1) {
  std::string context = "satsystem::tcs::buildNormalSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    check(table.insert(eh), ctxc);
  };
  // Insert Helper Sequence
  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
                 bool checkSuccess) {
    eh.setTableId(tableId);
    eh.setWaitSeconds(waitSeconds);
    eh.setCheckSuccess(checkSuccess);
    check(sequence.insert(eh), ctxc);
  };

  // Normal target table is empty
  check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TGT.first, &TCS_TABLE_NORMAL_TGT.second)), ctxc);

  iht(objects::TCS_BOARD_ASS, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
  iht(objects::TMP1075_HANDLER_TCS_0, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
  iht(objects::TMP1075_HANDLER_TCS_1, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
  iht(objects::TMP1075_HANDLER_PLPCDU_0, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
  if (commandPlPcdu1) {
    iht(objects::TMP1075_HANDLER_PLPCDU_1, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
  }
  iht(objects::TMP1075_HANDLER_IF_BOARD, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
  check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TRANS_0.first, &TCS_TABLE_NORMAL_TRANS_0.second)),
        ctxc);

  // Transition 1
  iht(objects::THERMAL_CONTROLLER, HasModesIF::MODE_ON, 0, TCS_TABLE_NORMAL_TRANS_1.second);
  check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TRANS_1.first, &TCS_TABLE_NORMAL_TRANS_1.second)),
        ctxc);

  ihs(TCS_SEQUENCE_NORMAL.second, TCS_TABLE_NORMAL_TGT.first, 0, false);
  ihs(TCS_SEQUENCE_NORMAL.second, TCS_TABLE_NORMAL_TRANS_0.first, 0, false);
  ihs(TCS_SEQUENCE_NORMAL.second, TCS_TABLE_NORMAL_TRANS_1.first, 0, false);
  check(ss.addSequence(SequenceEntry(TCS_SEQUENCE_NORMAL.first, &TCS_SEQUENCE_NORMAL.second,
                                     TCS_SEQUENCE_NORMAL.first)),
        ctxc);
}

}  // namespace