eive-obsw/bsp_q7s/core/acsModeTree.cpp

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#include "acsModeTree.h"
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#include <commonObjects.h>
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <fsfw/modes/HasModesIF.h>
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#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/subsystem/modes/ModeDefinitions.h>
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#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
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// Alias for checker function
const auto CHK = satsystem::checkInsert;
static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
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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, 2>());
auto ACS_TABLE_DETUMBLE_TGT =
std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 1, FixedArrayList<ModeListEntry, 3>());
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>());
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void satsystem::acsSubsystemInit() {
ModeListEntry entry;
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Subsystem* acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, objects::EIVE_SYSTEM, 20, 20);
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buildOffSequence(acsSubsystem, entry);
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buildDetumbleSequence(acsSubsystem, entry);
acsSubsystem->setInitialMode(HasModesIF::MODE_OFF);
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}
void satsystem::buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
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std::string context = "satsystem::buildOffSequence";
auto ctxc = context.c_str();
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auto ih = [&](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);
};
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// Build OFF transition
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ih(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
ih(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
ih(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
ih(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
ih(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
ih(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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// Build OFF sequence
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eh.setTableId(ACS_TABLE_OFF_TGT.first);
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eh.setWaitSeconds(0);
eh.setCheckSuccess(false);
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CHK(ACS_SEQUENCE_OFF.second.insert(eh), ctxc);
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eh.setTableId(ACS_TABLE_OFF_TRANS.first);
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eh.setWaitSeconds(0);
eh.setCheckSuccess(false);
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CHK(ACS_SEQUENCE_OFF.second.insert(eh), ctxc);
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// Build OFF target
ss->addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true);
ss->addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true);
ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first, false,
true);
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}
void satsystem::buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildDetumbleSequence";
auto ctxc = context.c_str();
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auto ih = [&](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);
};
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// Build DETUMBLE target
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ih(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
ih(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
ih(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
ih(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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ss->addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true);
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// Build DETUMBLE transition 0
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ih(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
ih(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
ih(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
ih(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
ih(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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// Build DETUMBLE transition 1
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ih(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
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// Build full sequence
ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false, true);
ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false, true);
ss->addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
ACS_SEQUENCE_DETUMBLE.first, false, true);
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}
void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {}
void satsystem::buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {}
void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {}
void satsystem::checkInsert(ReturnValue_t result, const char* ctx) {
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Insertion failed at " << ctx << std::endl;
}
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}