eive-obsw/mission/system/tree/acsModeTree.cpp

#include "acsModeTree.h"

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

#include "eive/objects.h"
#include "mission/acsDefs.h"
#include "util.h"

Subsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);

namespace {
// Alias for checker function
const auto check = subsystem::checkInsert;

void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
void buildDetumbleSequence(Subsystem& ss, ModeListEntry& entryHelper);
void buildSafeSequence(Subsystem& ss, ModeListEntry& entryHelper);
void buildIdleSequence(Subsystem& ss, ModeListEntry& entryHelper);
void buildTargetPtSequence(Subsystem& ss, ModeListEntry& entryHelper);
}  // namespace

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

auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 2>());
auto ACS_TABLE_OFF_TGT =
    std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
auto ACS_TABLE_OFF_TRANS =
    std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());

auto ACS_SEQUENCE_DETUMBLE =
    std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_DETUMBLE_TGT =
    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_DETUMBLE_TRANS_0 =
    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_DETUMBLE_TRANS_1 =
    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());

auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_SAFE_TGT =
    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_SAFE_TRANS_0 =
    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_SAFE_TRANS_1 =
    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());

auto ACS_SEQUENCE_IDLE = std::make_pair(acs::CtrlSubmode::IDLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_IDLE_TGT =
    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_0 =
    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_1 =
    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());

auto ACS_SEQUENCE_PTG_TARGET =
    std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_TGT =
    std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_TRANS_0 =
    std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_PTG_TARGET_TRANS_1 =
    std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());

/*
auto ACS_SEQUENCE_PTG_TARGET =
    std::make_pair(acs::CtrlSubmode::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_TARGET_PT_TGT =
    std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_TARGET_PT_TRANS_0 =
    std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_TARGET_PT_TRANS_1 =
    std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
*/

void satsystem::acs::init() {
  ModeListEntry entry;
  buildOffSequence(ACS_SUBSYSTEM, entry);
  buildSafeSequence(ACS_SUBSYSTEM, entry);
  buildDetumbleSequence(ACS_SUBSYSTEM, entry);
  buildIdleSequence(ACS_SUBSYSTEM, entry);
  buildTargetPtSequence(ACS_SUBSYSTEM, entry);
  ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE);
}

namespace {

void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::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(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);

  // 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);
  check(ss.addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true), ctxc);

  // 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);
  check(ss.addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
                       false, true),
        ctxc);
}

void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::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);
    check(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);
    check(sequence.insert(eh), ctxc);
  };
  // Build SAFE target
  iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::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);
  check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);

  // 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);
  check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
        ctxc);

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

  // Build SAFE sequence
  ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
  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);
  check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
                       false, true),
        ctxc);
}

void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::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);
    check(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);
    check(sequence.insert(eh), ctxc);
  };
  // Build DETUMBLE target
  iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::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);
  check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
        ctxc);

  // 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);
  check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
                    true),
        ctxc);

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

  // Build DETUMBLE sequence
  ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true);
  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);
  check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
                       ACS_SEQUENCE_SAFE.first, false, true),
        ctxc);
}

void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::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);
    check(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);
    check(sequence.insert(eh), ctxc);
  };
  // Build IDLE target
  iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::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_IDLE_TRANS_0.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_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::CtrlSubmode::IDLE, 0, ACS_TABLE_IDLE_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, true);
  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true);
  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_SAFE.first, false,
                 true);
}

void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::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);
    check(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);
    check(sequence.insert(eh), ctxc);
  };

  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
        ctxc);

  // Build TARGET PT transition 0
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
  check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_0.second, ACS_TABLE_PTG_TARGET_TRANS_0.first, false,
                    true),
        ctxc);

  // Build TARGET PT transition 1
  iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::PTG_TARGET, 0,
      ACS_TABLE_PTG_TARGET_TRANS_1.second);
  check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
                    true),
        ctxc);

  // Build IDLE sequence
  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_0.first, 0, true);
  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, false);
  check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
                       ACS_SEQUENCE_IDLE.first, false, true),
        ctxc);
}

}  // namespace