eive-obsw/mission/system/power/epsModeTree.cpp

#include <mission/system/power/epsModeTree.h>

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

EpsSubsystem satsystem::eps::EPS_SUBSYSTEM(objects::EPS_SUBSYSTEM, 12, 24);

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

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

auto EPS_SEQUENCE_OFF = std::make_pair(OFF, FixedArrayList<ModeListEntry, 3>());
auto EPS_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 2>());
auto EPS_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 2>());

auto EPS_SEQUENCE_NORMAL = std::make_pair(NML, FixedArrayList<ModeListEntry, 3>());
auto EPS_TABLE_NORMAL_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 2>());
auto EPS_TABLE_NORMAL_TRANS_0 = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 7>());

Subsystem& satsystem::eps::init() {
  ModeListEntry entry;
  buildOffSequence(EPS_SUBSYSTEM, entry);
  buildNormalSequence(EPS_SUBSYSTEM, entry);
  EPS_SUBSYSTEM.setInitialMode(NML);
  return EPS_SUBSYSTEM;
}

namespace {

void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::eps::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(EPS_TABLE_OFF_TGT.first, &EPS_TABLE_OFF_TGT.second)), ctxc);

  // Transition 0
  iht(objects::POWER_CONTROLLER, OFF, 0, EPS_TABLE_OFF_TRANS_0.second);
  check(ss.addTable(TableEntry(EPS_TABLE_OFF_TRANS_0.first, &EPS_TABLE_OFF_TRANS_0.second)), ctxc);

  ihs(EPS_SEQUENCE_OFF.second, EPS_TABLE_OFF_TGT.first, 0, false);
  ihs(EPS_SEQUENCE_OFF.second, EPS_TABLE_OFF_TRANS_0.first, 0, false);
  check(ss.addSequence(SequenceEntry(EPS_SEQUENCE_OFF.first, &EPS_SEQUENCE_OFF.second,
                                     EPS_SEQUENCE_OFF.first)),
        ctxc);
}

void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
  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
  iht(objects::POWER_CONTROLLER, NML, 0, EPS_TABLE_NORMAL_TGT.second);
  check(ss.addTable(TableEntry(EPS_TABLE_NORMAL_TGT.first, &EPS_TABLE_NORMAL_TGT.second)), ctxc);

  // Transition 0
  iht(objects::POWER_CONTROLLER, NML, 0, EPS_TABLE_NORMAL_TRANS_0.second);
  check(ss.addTable(TableEntry(EPS_TABLE_NORMAL_TRANS_0.first, &EPS_TABLE_NORMAL_TRANS_0.second)),
        ctxc);

  ihs(EPS_SEQUENCE_NORMAL.second, EPS_TABLE_NORMAL_TGT.first, 0, false);
  ihs(EPS_SEQUENCE_NORMAL.second, EPS_TABLE_NORMAL_TRANS_0.first, 0, false);
  check(ss.addSequence(SequenceEntry(EPS_SEQUENCE_NORMAL.first, &EPS_SEQUENCE_NORMAL.second,
                                     EPS_SEQUENCE_NORMAL.first)),
        ctxc);
}
}  // namespace