added remaining acs modes as system modes

2023-04-19 15:07:21 +02:00 · 2023-04-19 15:07:21 +02:00 · 097be17a29
commit 097be17a29
parent 432b400835
3 changed files with 247 additions and 30 deletions
--- a/mission/sysDefs.h
+++ b/mission/sysDefs.h
@ -9,8 +9,15 @@ extern std::atomic_uint16_t I2C_FATAL_ERRORS;

 namespace satsystem {

-enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE };
-
+enum Mode : Mode_t {
+  BOOT = 5,
+  SAFE = acs::AcsMode::SAFE,
+  PTG_IDLE = acs::AcsMode::PTG_IDLE,
+  PTG_NADIR = acs::AcsMode::PTG_NADIR,
+  PTG_TARGET = acs::AcsMode::PTG_TARGET,
+  PTG_TARGET_GS = acs::AcsMode::PTG_TARGET_GS,
+  PTG_INERTIAL = acs::AcsMode::PTG_INERTIAL,
+};
 }

 namespace xsc {
--- a/mission/system/EiveSystem.cpp
+++ b/mission/system/EiveSystem.cpp
@ -39,18 +39,22 @@ void EiveSystem::announceMode(bool recursive) {
      modeStr = "POINTING IDLE";
      break;
    }
-    case (acs::AcsMode::PTG_INERTIAL): {
-      modeStr = "POINTING INERTIAL";
+    case (satsystem::Mode::PTG_NADIR): {
+      modeStr = "POINTING NADIR";
      break;
    }
-    case (acs::AcsMode::PTG_TARGET): {
+    case (satsystem::Mode::PTG_TARGET): {
      modeStr = "POINTING TARGET";
      break;
    }
-    case (acs::AcsMode::PTG_TARGET_GS): {
+    case (satsystem::Mode::PTG_TARGET_GS): {
      modeStr = "POINTING TARGET GS";
      break;
    }
+    case (satsystem::Mode::PTG_INERTIAL): {
+      modeStr = "POINTING INERTIAL";
+      break;
+    }
  }
  sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
  return Subsystem::announceMode(recursive);
--- a/mission/system/systemTree.cpp
+++ b/mission/system/systemTree.cpp
@ -22,6 +22,10 @@ const auto check = subsystem::checkInsert;
 void buildBootSequence(Subsystem& ss, ModeListEntry& eh);
 void buildSafeSequence(Subsystem& ss, ModeListEntry& eh);
 void buildIdleSequence(Subsystem& ss, ModeListEntry& eh);
+void buildPtgNadirSequence(Subsystem& ss, ModeListEntry& eh);
+void buildPtgTargetSequence(Subsystem& ss, ModeListEntry& eh);
+void buildPtgTargetGsSequence(Subsystem& ss, ModeListEntry& eh);
+void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh);
 }  // namespace

 static const auto OFF = HasModesIF::MODE_OFF;
@ -40,6 +44,10 @@ void satsystem::init() {
  buildBootSequence(EIVE_SYSTEM, entry);
  buildSafeSequence(EIVE_SYSTEM, entry);
  buildIdleSequence(EIVE_SYSTEM, entry);
+  buildPtgNadirSequence(EIVE_SYSTEM, entry);
+  buildPtgTargetSequence(EIVE_SYSTEM, entry);
+  buildPtgTargetGsSequence(EIVE_SYSTEM, entry);
+  buildPtgInertialSequence(EIVE_SYSTEM, entry);
  EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0);
 }

@ -68,8 +76,89 @@ auto EIVE_TABLE_IDLE_TRANS_0 =
 auto EIVE_TABLE_IDLE_TRANS_1 =
    std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());

+auto EIVE_SEQUENCE_PTG_NADIR =
+    std::make_pair(satsystem::Mode::PTG_NADIR, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_NADIR_TGT =
+    std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_NADIR_TRANS_0 =
+    std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_NADIR_TRANS_1 =
+    std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
+auto EIVE_SEQUENCE_PTG_TARGET =
+    std::make_pair(satsystem::Mode::PTG_TARGET, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_TGT =
+    std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_TRANS_0 =
+    std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_TRANS_1 =
+    std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
+auto EIVE_SEQUENCE_PTG_TARGET_GS =
+    std::make_pair(satsystem::Mode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_GS_TGT =
+    std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_GS_TRANS_0 =
+    std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_GS_TRANS_1 =
+    std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
+auto EIVE_SEQUENCE_PTG_INERTIAL =
+    std::make_pair(satsystem::Mode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_INERTIAL_TGT =
+    std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_INERTIAL_TRANS_0 =
+    std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_INERTIAL_TRANS_1 =
+    std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
 namespace {

+void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildBootSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
+                 bool allowAllSubmodes = false) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
+    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);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TGT.second, true);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
+  iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TGT.second);
+  iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TGT.first, &EIVE_TABLE_BOOT_TGT.second)), ctxc);
+
+  // Build SAFE transition 0.
+  iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second, true);
+  check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TRANS_0.first, &EIVE_TABLE_BOOT_TRANS_0.second)),
+        ctxc);
+
+  // Build Safe sequence
+  ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_BOOT.first, &EIVE_SEQUENCE_BOOT.second,
+                                     EIVE_SEQUENCE_SAFE.first)),
+        ctxc);
+}
+
 void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::buildSafeSequence";
  auto ctxc = context.c_str();
@ -150,18 +239,14 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
        ctxc);
 }

-void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildBootSequence";
+void buildPtgNadirSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildPtgNadirSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
-  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
-                 bool allowAllSubmodes = false) {
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
-    if (allowAllSubmodes) {
-      eh.allowAllSubmodes();
-    }
    check(table.insert(eh), ctxc);
  };
  // Insert Helper Sequence
@ -173,25 +258,146 @@ void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
    check(sequence.insert(eh), ctxc);
  };

-  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TGT.second, true);
-  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
-  iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TGT.second);
-  iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
-  check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TGT.first, &EIVE_TABLE_BOOT_TGT.second)), ctxc);
-
-  // Build SAFE transition 0.
-  iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
-  iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TRANS_0.second);
-  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
-  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second, true);
-  check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TRANS_0.first, &EIVE_TABLE_BOOT_TRANS_0.second)),
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_NADIR, 0, EIVE_TABLE_PTG_NADIR_TGT.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_PTG_NADIR_TGT.first, &EIVE_TABLE_PTG_NADIR_TGT.second)),
        ctxc);

-  // Build Safe sequence
-  ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TGT.first, 0, false);
-  ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TRANS_0.first, 0, false);
-  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_BOOT.first, &EIVE_SEQUENCE_BOOT.second,
-                                     EIVE_SEQUENCE_SAFE.first)),
+  // Build PTG_NADIR transition 0
+  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_NADIR, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
+  check(ss.addTable(
+            TableEntry(EIVE_TABLE_PTG_NADIR_TRANS_0.first, &EIVE_TABLE_PTG_NADIR_TRANS_0.second)),
+        ctxc);
+
+  // Build PTG_NADIR sequence
+  ihs(EIVE_SEQUENCE_PTG_NADIR.second, EIVE_TABLE_PTG_NADIR_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_PTG_NADIR.second, EIVE_TABLE_PTG_NADIR_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_NADIR.first, &EIVE_SEQUENCE_PTG_NADIR.second,
+                                     EIVE_SEQUENCE_IDLE.first)),
        ctxc);
 }
+
+void buildPtgTargetSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildPtgTargetSequence";
+  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);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET, 0, EIVE_TABLE_PTG_TARGET_TGT.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_PTG_TARGET_TGT.first, &EIVE_TABLE_PTG_TARGET_TGT.second)),
+        ctxc);
+
+  // Build PTG_TARGET transition 0
+  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
+  check(ss.addTable(
+            TableEntry(EIVE_TABLE_PTG_TARGET_TRANS_0.first, &EIVE_TABLE_PTG_TARGET_TRANS_0.second)),
+        ctxc);
+
+  // Build PTG_TARGET sequence
+  ihs(EIVE_SEQUENCE_PTG_TARGET.second, EIVE_TABLE_PTG_TARGET_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_PTG_TARGET.second, EIVE_TABLE_PTG_TARGET_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_TARGET.first,
+                                     &EIVE_SEQUENCE_PTG_TARGET.second, EIVE_SEQUENCE_IDLE.first)),
+        ctxc);
+}
+
+void buildPtgTargetGsSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildPtgTargetGsSequence";
+  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);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET_GS, 0, EIVE_TABLE_PTG_TARGET_GS_TGT.second);
+  check(ss.addTable(
+            TableEntry(EIVE_TABLE_PTG_TARGET_GS_TGT.first, &EIVE_TABLE_PTG_TARGET_GS_TGT.second)),
+        ctxc);
+
+  // Build PTG_TARGET_GS transition 0
+  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET_GS, 0,
+      EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_PTG_TARGET_GS_TRANS_0.first,
+                               &EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second)),
+        ctxc);
+
+  // Build PTG_TARGET_GS sequence
+  ihs(EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_TABLE_PTG_TARGET_GS_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.first, 0, false);
+  check(
+      ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_TARGET_GS.first,
+                                   &EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_SEQUENCE_IDLE.first)),
+      ctxc);
+}
+
+void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildPtgInertialSequence";
+  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);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_INERTIAL, 0, EIVE_TABLE_PTG_INERTIAL_TGT.second);
+  check(ss.addTable(
+            TableEntry(EIVE_TABLE_PTG_INERTIAL_TGT.first, &EIVE_TABLE_PTG_INERTIAL_TGT.second)),
+        ctxc);
+
+  // Build PTG_INERTIAL transition 0
+  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_INERTIAL, 0,
+      EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_PTG_INERTIAL_TRANS_0.first,
+                               &EIVE_TABLE_PTG_INERTIAL_TRANS_0.second)),
+        ctxc);
+
+  // Build PTG_INERTIAL sequence
+  ihs(EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_TABLE_PTG_INERTIAL_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_TABLE_PTG_INERTIAL_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_INERTIAL.first,
+                                     &EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_SEQUENCE_IDLE.first)),
+        ctxc);
+}
+
 }  // namespace