eive-obsw/bsp_q7s/core/acsModeTree.cpp

#include "acsModeTree.h"

#include <commonObjects.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/subsystem/modes/ModeDefinitions.h>

#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"

// Alias for checker function
const auto CHK = satsystem::checkInsert;
static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;

auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlModes::OFF, FixedArrayList<ModeListEntry, 2>());
auto ACS_TABLE_OFF_TGT =
    std::make_pair((acs::CtrlModes::OFF << 8) | 1, FixedArrayList<ModeListEntry, 0>());
auto ACS_TABLE_OFF_TRANS =
    std::make_pair((acs::CtrlModes::OFF << 8) | 2, FixedArrayList<ModeListEntry, 6>());

auto ACS_SEQUENCE_DETUMBLE =
    std::make_pair(acs::CtrlModes::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_DETUMBLE_TGT =
    std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_DETUMBLE_TRANS_0 =
    std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_DETUMBLE_TRANS_1 =
    std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 3, FixedArrayList<ModeListEntry, 1>());

auto ACS_SEQUENCE_SAFE =
    std::make_pair(acs::CtrlModes::SAFE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_SAFE_TGT =
    std::make_pair((acs::CtrlModes::SAFE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_SAFE_TRANS_0 =
    std::make_pair((acs::CtrlModes::SAFE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_SAFE_TRANS_1 =
    std::make_pair((acs::CtrlModes::SAFE << 8) | 3, FixedArrayList<ModeListEntry, 1>());

auto ACS_SEQUENCE_IDLE =
    std::make_pair(acs::CtrlModes::IDLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_IDLE_TGT =
    std::make_pair((acs::CtrlModes::IDLE << 8) | 1, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_IDLE_TRANS_0 =
    std::make_pair((acs::CtrlModes::IDLE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_IDLE_TRANS_1 =
    std::make_pair((acs::CtrlModes::IDLE << 8) | 3, FixedArrayList<ModeListEntry, 1>());

auto ACS_SEQUENCE_TARGET_PT =
    std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_TARGET_PT_TGT =
    std::make_pair((acs::CtrlModes::TARGET_PT << 8) | 1, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_TARGET_PT_TRANS_0 =
    std::make_pair((acs::CtrlModes::TARGET_PT << 8) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_TARGET_PT_TRANS_1 =
    std::make_pair((acs::CtrlModes::TARGET_PT << 8) | 3, FixedArrayList<ModeListEntry, 1>());

enum InsertType {
  TABLE,
  SEQ
};

void satsystem::acsSubsystemInit() {
  ModeListEntry entry;
  Subsystem* acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, objects::EIVE_SYSTEM, 20, 20);
  buildOffSequence(acsSubsystem, entry);
  buildSafeSequence(acsSubsystem, entry);
  buildDetumbleSequence(acsSubsystem, entry);
  buildIdleSequence(acsSubsystem, entry);
  buildTargetPtSequence(acsSubsystem, entry);
  acsSubsystem->setInitialMode(HasModesIF::MODE_OFF);
}

void satsystem::buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
  std::string context = "satsystem::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);
    CHK(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);
    CHK(sequence.insert(eh), ctxc);
  };

  // OFF Target table is empty
  ss->addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true);

  // Build OFF transition
  iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
  iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
  iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
  iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
  ss->addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true);

  // Build OFF sequence
  ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false);
  ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS.first, 0, false);
  ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first, false,
                  true);
}

void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
  std::string context = "satsystem::buildSafeSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                ArrayList<ModeListEntry>& sequence) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    CHK(sequence.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);
    CHK(sequence.insert(eh), ctxc);
  };
  // Build SAFE target
  iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TGT.second);
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
  ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_OFF_TGT.first, false, true);

  // Build SAFE transition 0
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
  ss->addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true);

  // Build SAFE transition 1
  iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
  ss->addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true);

  // Build SAFE sequence
  ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, false);
  ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false);
  ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
  ss->addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_OFF.first, false,
                  true);
}

void satsystem::buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
  std::string context = "satsystem::buildDetumbleSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                ArrayList<ModeListEntry>& sequence) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    CHK(sequence.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);
    CHK(sequence.insert(eh), ctxc);
  };
  // Build DETUMBLE target
  iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
  ss->addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true);

  // Build DETUMBLE transition 0
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
  ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false, true);

  // Build DETUMBLE transition 1
  iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
  ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false, true);

  // Build DETUMBLE sequence
  ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, false);
  ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false);
  ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false);
  ss->addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
                  ACS_SEQUENCE_DETUMBLE.first, false, true);
}


void satsystem::buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
  std::string context = "satsystem::buildIdleSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                ArrayList<ModeListEntry>& sequence) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    CHK(sequence.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);
    CHK(sequence.insert(eh), ctxc);
  };
  // Build IDLE target
  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
  ss->addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);

  // Build IDLE transition 0
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
  ss->addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);

  // Build IDLE transition 1
  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
  ss->addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);

  // Build IDLE sequence
  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, false);
  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, false);
  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, false);
  ss->addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first,
                  ACS_SEQUENCE_IDLE.first, false, true);
}

void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
  std::string context = "satsystem::buildTargetPtSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                ArrayList<ModeListEntry>& sequence) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    CHK(sequence.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);
    CHK(sequence.insert(eh), ctxc);
  };

  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TGT.second);
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
  ss->addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true);

  // Build TARGET PT transition 0
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
  ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false, true);

  // Build TARGET PT transition 1
  iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
  ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false, true);

  // Build IDLE sequence
  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, false);
  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, false);
  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
  ss->addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
                  ACS_SEQUENCE_TARGET_PT.first, false, true);
}

void satsystem::checkInsert(ReturnValue_t result, const char* ctx) {
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "Insertion failed at " << ctx << std::endl;
  }
}