started acs subsystem

bsp_q7s/core/ObjectFactory.cpp

@@ -42,7 +42,7 @@
 #include "mission/system/objects/SusAssembly.h"
 #include "mission/system/objects/SusFdir.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
-#include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tree/system.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 
@@ -208,7 +208,7 @@ void ObjectFactory::produce(void* args) {
   new PlocUpdater(objects::PLOC_UPDATER);
   new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
 
-  satsystem::initAcsSubsystem();
+  satsystem::init();
 }
 
 void ObjectFactory::createTmpComponents() {

common/config/commonObjects.h

@@ -38,7 +38,7 @@ enum commonObjects: uint32_t {
     GYRO_2_ADIS_HANDLER = 0x44120212,
     GYRO_3_L3G_HANDLER = 0x44120313,
     PLPCDU_HANDLER = 0x44300000,
-
+    SCEX_HANDLER = 0x44400000,
     IMTQ_HANDLER = 0x44140014,
     PLOC_MPSOC_HANDLER = 0x44330015,
     PLOC_SUPERVISOR_HANDLER = 0x44330016,
@@ -99,8 +99,12 @@ enum commonObjects: uint32_t {
     SUS_BOARD_ASS = 0x73000002,
     TCS_BOARD_ASS = 0x73000003,
     RW_ASS = 0x73000004,
-    ACS_SUBSYSTEM = 0x73010001,
+    PLOC_SWITCHER = 0x73000005,
+    CAM_SWITCHER = 0x73000006,
     EIVE_SYSTEM = 0x73010000,
+    ACS_SUBSYSTEM = 0x73010001,
+    PL_SUBSYSTEM = 0x73010002,
+    PLOC_SUBSYSTEM = 0x73010003,
 };
 }
 

generators/fsfwgen

@@ -1 +1 @@
-Subproject commit d2bdabbf0f213747efc18cb45fcf2a2294b14bc8
+Subproject commit 2a408e8c7dd2ebe974b9699fb5aee0889aa86392

mission/system/objects/definitions.h

@@ -16,4 +16,10 @@ enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
 
 }  // namespace duallane
 
+namespace payload {
+
+enum Modes { NONE = 0, DAC = 1, CAM = 2, PL_DATA = 3, EARTH_OBSV = 4, SCEX = 5 };
+
+}
+
 #endif /* MISSION_SYSTEM_DEFINITIONS_H_ */

mission/system/tree/CMakeLists.txt

@@ -1,3 +1,5 @@
 target_sources(${LIB_EIVE_MISSION} PRIVATE
     acsModeTree.cpp
+    payloadModeTree.cpp
+    system.cpp
 )

mission/system/tree/acsModeTree.cpp

@@ -8,6 +8,8 @@
 
 #include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
 
+// Alias for checker function
+namespace {
 void checkInsert(ReturnValue_t result, const char* ctx);
 void buildOffSequence(Subsystem* ss, ModeListEntry& eh);
 void buildDetumbleSequence(Subsystem* ss, ModeListEntry& entryHelper);
@@ -15,8 +17,8 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& entryHelper);
 void buildIdleSequence(Subsystem* ss, ModeListEntry& entryHelper);
 void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& entryHelper);
 void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper);
+}  // namespace
 
-// Alias for checker function
 const auto CHK = checkInsert;
 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;
@@ -73,7 +75,7 @@ auto ACS_TABLE_TARGET_PT_TRANS_0 =
 auto ACS_TABLE_TARGET_PT_TRANS_1 =
     std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
-void satsystem::initAcsSubsystem() {
+void satsystem::acs::init() {
   ModeListEntry entry;
   Subsystem* acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, objects::EIVE_SYSTEM, 12, 24);
   buildOffSequence(acsSubsystem, entry);
@@ -82,11 +84,13 @@ void satsystem::initAcsSubsystem() {
   buildIdleSequence(acsSubsystem, entry);
   buildIdleChargeSequence(acsSubsystem, entry);
   buildTargetPtSequence(acsSubsystem, entry);
-  acsSubsystem->setInitialMode(HasModesIF::MODE_OFF);
+  acsSubsystem->setInitialMode(OFF);
 }
 
+namespace {
+
 void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildOffSequence";
+  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) {
@@ -125,7 +129,7 @@ void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
 }
 
 void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildSafeSequence";
+  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,
@@ -174,7 +178,7 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
 }
 
 void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildDetumbleSequence";
+  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,
@@ -226,7 +230,7 @@ void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
 }
 
 void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildIdleSequence";
+  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,
@@ -273,7 +277,7 @@ void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
 }
 
 void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildIdleChargeSequence";
+  std::string context = "satsystem::acs::buildIdleChargeSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@@ -327,7 +331,7 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
 }
 
 void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildTargetPtSequence";
+  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,
@@ -383,6 +387,8 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
 
 void checkInsert(ReturnValue_t result, const char* ctx) {
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx << std::endl;
+    sif::warning << "Insertion failed at " << ctx << std::endl;
   }
 }
+
+}  // namespace

mission/system/tree/acsModeTree.h

@@ -3,7 +3,9 @@
 class Subsystem;
 
 namespace satsystem {
+namespace acs {
 
-void initAcsSubsystem();
+void init();
 
+}
 }  // namespace satsystem

mission/system/tree/payloadModeTree.cpp

@@ -0,0 +1,116 @@
+#include "payloadModeTree.h"
+
+#include <commonObjects.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/modes/HasModesIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/subsystem/Subsystem.h>
+
+#include "mission/system/objects/PayloadSubsystem.h"
+
+namespace {
+void checkInsert(ReturnValue_t result, const char* ctx);
+void initOffSequence(Subsystem* ss, ModeListEntry& eh);
+void initPlDacSequence(Subsystem* ss, ModeListEntry& eh);
+void initPlCamSequence(Subsystem* ss, ModeListEntry& eh);
+void initPlDataSequence(Subsystem* ss, ModeListEntry& eh);
+void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh);
+void initScexSequence(Subsystem* ss, ModeListEntry& eh);
+}  // namespace
+
+const auto CHK = checkInsert;
+static const auto OFF = HasModesIF::MODE_OFF;
+// static const auto NML = DeviceHandlerIF::MODE_NORMAL;
+
+auto PL_SEQUENCE_OFF = std::make_pair(OFF << 24, FixedArrayList<ModeListEntry, 2>());
+auto PL_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 0>());
+auto PL_TABLE_OFF_TRANS = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+
+void satsystem::pl::init() {
+  ModeListEntry entry;
+  Subsystem* plSubsystem = new Subsystem(objects::PL_SUBSYSTEM, objects::EIVE_SYSTEM, 12, 24);
+  initOffSequence(plSubsystem, entry);
+  initPlDacSequence(plSubsystem, entry);
+  initPlCamSequence(plSubsystem, entry);
+  initPlDataSequence(plSubsystem, entry);
+  initEarthObsvSequence(plSubsystem, entry);
+  initScexSequence(plSubsystem, entry);
+  plSubsystem->setInitialMode(OFF);
+}
+
+namespace {
+
+void initOffSequence(Subsystem* ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::buildOffSequence";
+  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 OFF target. Is empty
+  ss->addTable(&PL_TABLE_OFF_TGT.second, PL_TABLE_OFF_TGT.first, false, true);
+
+  // Build OFF transition 0
+  iht(objects::PLOC_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS.second);
+  iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS.second);
+  iht(objects::SCEX_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS.second);
+  iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS.second);
+  iht(objects::PLOC_SUBSYSTEM, OFF, 0, PL_TABLE_OFF_TRANS.second);
+  ss->addTable(&PL_TABLE_OFF_TRANS.second, PL_TABLE_OFF_TRANS.first, false, true);
+
+  // Build OFF sequence
+  ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TGT.first, 0, false);
+  ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TRANS.first, 0, false);
+  ss->addSequence(&PL_SEQUENCE_OFF.second, PL_SEQUENCE_OFF.first, PL_SEQUENCE_OFF.first, false,
+                  true);
+}
+
+void initPlDacSequence(Subsystem* ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::initPlDacSequence";
+  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);
+  };
+}
+
+void initPlCamSequence(Subsystem* ss, ModeListEntry& eh) {}
+
+void initPlDataSequence(Subsystem* ss, ModeListEntry& eh) {}
+
+void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh) {}
+
+void initScexSequence(Subsystem* ss, ModeListEntry& eh) {}
+
+void checkInsert(ReturnValue_t result, const char* ctx) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "satsystem::checkInsert: PL | Insertion failed at " << ctx << std::endl;
+  }
+}
+
+}  // namespace

mission/system/tree/payloadModeTree.h

@@ -0,0 +1,12 @@
+#ifndef MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_
+#define MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_
+
+namespace satsystem {
+
+namespace pl {
+void init();
+}
+
+}  // namespace satsystem
+
+#endif /* MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_ */

mission/system/tree/system.cpp

@@ -0,0 +1,9 @@
+#include "system.h"
+
+#include "acsModeTree.h"
+#include "payloadModeTree.h"
+
+void satsystem::init() {
+  acs::init();
+  pl::init();
+}

mission/system/tree/system.h

@@ -0,0 +1,10 @@
+#ifndef MISSION_SYSTEM_TREE_SYSTEM_H_
+#define MISSION_SYSTEM_TREE_SYSTEM_H_
+
+namespace satsystem {
+
+void init();
+
+}
+
+#endif /* MISSION_SYSTEM_TREE_SYSTEM_H_ */