Merge pull request 'ACS updates' (#365) from acs_updates into develop
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Reviewed-on: #365 Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>
This commit is contained in:
commit
129399c40e
17
CHANGELOG.md
17
CHANGELOG.md
@ -17,6 +17,23 @@ change warranting a new major release:
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# [unreleased]
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- `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested
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as well. Other modes still need to be tested.
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## Fixed
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- `AcsController`: Parameter fix in `DetumbleParameter`.
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- Set GPS set entries to invalid on MODE_OFF command.
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## Changed
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- ACS Subsystem Sequence Mode IDs updated.
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PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
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TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130
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- Update and tweak ACS subsystem to represent the actual ACS design
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- Event handling in the ACS subsystem for events triggered by the ACS controller.
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PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
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# [v1.23.1] 2023-02-02
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TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3
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@ -84,7 +84,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
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10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
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10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
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10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
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11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/controller/AcsController.h
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11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
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11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;mission/acsDefs.h
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11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
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11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
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11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
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@ -1,7 +1,7 @@
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/**
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* @brief Auto-generated event translation file. Contains 244 translations.
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* @brief Auto-generated event translation file. Contains 245 translations.
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* @details
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* Generated on: 2023-02-01 19:42:11
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* Generated on: 2023-02-03 10:52:53
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*/
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#include "translateEvents.h"
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@ -91,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
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const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
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const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
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const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
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const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
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const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
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const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
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const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
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@ -419,6 +420,8 @@ const char *translateEvents(Event event) {
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return SERIALIZATION_ERROR_STRING;
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case (11200):
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return SAFE_RATE_VIOLATION_STRING;
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case (11201):
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return SAFE_RATE_RECOVERY_STRING;
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case (11300):
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return SWITCH_CMD_SENT_STRING;
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case (11301):
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@ -2,7 +2,7 @@
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* @brief Auto-generated object translation file.
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||||
* @details
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* Contains 152 translations.
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* Generated on: 2023-02-01 19:42:11
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* Generated on: 2023-02-03 10:52:53
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*/
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#include "translateObjects.h"
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@ -48,6 +48,9 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
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return HasModesIF::INVALID_MODE;
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}
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}
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if (mode == MODE_OFF) {
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gpsSet.setValidity(false, true);
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}
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return returnvalue::OK;
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}
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@ -1,7 +1,7 @@
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/**
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* @brief Auto-generated event translation file. Contains 244 translations.
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* @brief Auto-generated event translation file. Contains 245 translations.
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* @details
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* Generated on: 2023-02-01 19:42:11
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* Generated on: 2023-02-03 10:52:53
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*/
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#include "translateEvents.h"
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@ -91,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
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const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
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const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
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const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
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const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
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const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
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const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
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const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
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@ -419,6 +420,8 @@ const char *translateEvents(Event event) {
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return SERIALIZATION_ERROR_STRING;
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case (11200):
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return SAFE_RATE_VIOLATION_STRING;
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case (11201):
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return SAFE_RATE_RECOVERY_STRING;
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case (11300):
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return SWITCH_CMD_SENT_STRING;
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case (11301):
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@ -2,7 +2,7 @@
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* @brief Auto-generated object translation file.
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* @details
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* Contains 152 translations.
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* Generated on: 2023-02-01 19:42:11
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* Generated on: 2023-02-03 10:52:53
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*/
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#include "translateObjects.h"
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28
mission/acsDefs.h
Normal file
28
mission/acsDefs.h
Normal file
@ -0,0 +1,28 @@
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#ifndef MISSION_ACSDEFS_H_
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#define MISSION_ACSDEFS_H_
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#include <eive/eventSubsystemIds.h>
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#include <fsfw/modes/HasModesIF.h>
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namespace acs {
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enum CtrlSubmode {
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OFF = HasModesIF::MODE_OFF,
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SAFE = 2,
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DETUMBLE = 3,
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IDLE = 4,
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PTG_TARGET_NADIR = 5,
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PTG_TARGET = 6,
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PTG_TARGET_GS = 7,
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PTG_TARGET_INERTIAL = 8,
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};
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
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//!< The limits for the rotation in safe mode were violated.
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static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
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//!< The system has recovered from a safe rate rotation violation.
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static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
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} // namespace acs
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#endif /* MISSION_ACSDEFS_H_ */
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@ -2,6 +2,7 @@
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#include <fsfw/datapool/PoolReadGuard.h>
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#include "mission/acsDefs.h"
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#include "mission/config/torquer.h"
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AcsController::AcsController(object_id_t objectId)
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@ -45,15 +46,15 @@ void AcsController::performControlOperation() {
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case InternalState::READY: {
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if (mode != MODE_OFF) {
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switch (submode) {
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case SUBMODE_SAFE:
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case acs::SAFE:
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performSafe();
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break;
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case SUBMODE_DETUMBLE:
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case acs::DETUMBLE:
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performDetumble();
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break;
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case SUBMODE_PTG_TARGET:
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case SUBMODE_PTG_NADIR:
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case SUBMODE_PTG_INERTIAL:
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case acs::PTG_TARGET:
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case acs::PTG_TARGET_NADIR:
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case acs::PTG_TARGET_INERTIAL:
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performPointingCtrl();
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break;
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}
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@ -151,9 +152,9 @@ void AcsController::performSafe() {
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detumbleCounter = 0;
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}
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if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
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submode = SUBMODE_DETUMBLE;
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detumbleCounter = 0;
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triggerEvent(SAFE_RATE_VIOLATION);
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// Triggers detubmle mode transition in subsystem
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triggerEvent(acs::SAFE_RATE_VIOLATION);
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}
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{
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@ -208,8 +209,9 @@ void AcsController::performDetumble() {
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detumbleCounter = 0;
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}
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if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
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submode = SUBMODE_SAFE;
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detumbleCounter = 0;
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// Triggers safe mode transition in subsystem
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triggerEvent(acs::SAFE_RATE_RECOVERY);
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}
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int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
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@ -24,16 +24,6 @@ class AcsController : public ExtendedControllerBase {
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AcsController(object_id_t objectId);
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static const Submode_t SUBMODE_SAFE = 2;
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static const Submode_t SUBMODE_DETUMBLE = 3;
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static const Submode_t SUBMODE_PTG_TARGET = 4;
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static const Submode_t SUBMODE_PTG_NADIR = 5;
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static const Submode_t SUBMODE_PTG_INERTIAL = 6;
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
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static const Event SAFE_RATE_VIOLATION =
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MAKE_EVENT(0, severity::MEDIUM); //!< The limits for the rotation in safe mode were violated.
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protected:
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void performSafe();
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void performDetumble();
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@ -899,8 +899,8 @@ class AcsParameters /*: public HasParametersIF*/ {
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struct DetumbleParameter {
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uint8_t detumblecounter = 75; // 30 s
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double omegaDetumbleStart = 2 * M_PI / 180;
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double omegaDetumbleEnd = 0.4 * M_PI / 180;
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double omegaDetumbleStart = 2;
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double omegaDetumbleEnd = 0.4;
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double gainD = pow(10.0, -3.3);
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} detumbleParameter;
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};
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@ -1,14 +0,0 @@
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#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
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#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
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#include <fsfw/modes/HasModesIF.h>
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namespace acs {
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enum CtrlModes { OFF = HasModesIF::MODE_OFF, SAFE = 1, DETUMBLE = 2, IDLE = 3, TARGET_PT = 4 };
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static constexpr Submode_t IDLE_CHARGE = 1;
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} // namespace acs
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#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */
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@ -1,5 +1,83 @@
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#include "AcsSubsystem.h"
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#include <fsfw/events/EventManagerIF.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include "fsfw/modes/ModeMessage.h"
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#include "mission/acsDefs.h"
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AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
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uint32_t maxNumberOfTables)
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: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
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: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
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auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
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eventQueue =
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QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
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}
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ReturnValue_t AcsSubsystem::initialize() {
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EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
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if (manager == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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ReturnValue_t result = manager->registerListener(eventQueue->getId());
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if (result != returnvalue::OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "AcsSubsystem::registerListener: Failed to register as "
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"listener"
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<< std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
|
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;
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}
|
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result =
|
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manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_VIOLATION));
|
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if (result != returnvalue::OK) {
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sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_VIOLATION failed" << std::endl;
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}
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result =
|
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manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_RECOVERY));
|
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if (result != returnvalue::OK) {
|
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sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
|
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}
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return Subsystem::initialize();
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}
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||||
void AcsSubsystem::performChildOperation() {
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handleEventMessages();
|
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return Subsystem::performChildOperation();
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||||
}
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|
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void AcsSubsystem::handleEventMessages() {
|
||||
EventMessage event;
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for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
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result = eventQueue->receiveMessage(&event)) {
|
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switch (event.getMessageId()) {
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case EventMessage::EVENT_MESSAGE:
|
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if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
|
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CommandMessage msg;
|
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ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0);
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||||
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
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||||
if (result != returnvalue::OK) {
|
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sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
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||||
}
|
||||
}
|
||||
if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
|
||||
CommandMessage msg;
|
||||
ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::SAFE, 0);
|
||||
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl;
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe "
|
||||
"to this event message"
|
||||
<< std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
@ -8,6 +8,12 @@ class AcsSubsystem : public Subsystem {
|
||||
AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
|
||||
|
||||
private:
|
||||
ReturnValue_t initialize() override;
|
||||
void performChildOperation() override;
|
||||
|
||||
void handleEventMessages();
|
||||
|
||||
MessageQueueIF* eventQueue = nullptr;
|
||||
};
|
||||
|
||||
#endif /* MISSION_SYSTEM_ACSSUBSYSTEM_H_ */
|
||||
|
@ -7,10 +7,10 @@
|
||||
#include <fsfw/subsystem/modes/ModeDefinitions.h>
|
||||
|
||||
#include "eive/objects.h"
|
||||
#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
|
||||
#include "mission/acsDefs.h"
|
||||
#include "util.h"
|
||||
|
||||
Subsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
|
||||
AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
|
||||
|
||||
namespace {
|
||||
// Alias for checker function
|
||||
@ -20,74 +20,109 @@ 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 buildIdleChargeSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh);
|
||||
void buildTargetPtSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildTargetPtInertialSequence(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::CtrlModes::OFF << 24, FixedArrayList<ModeListEntry, 2>());
|
||||
auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_OFF_TGT =
|
||||
std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_OFF_TRANS =
|
||||
std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());
|
||||
std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_OFF_TRANS_0 =
|
||||
std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_OFF_TRANS_1 =
|
||||
std::make_pair((acs::CtrlSubmode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
|
||||
|
||||
auto ACS_SEQUENCE_DETUMBLE =
|
||||
std::make_pair(acs::CtrlModes::DETUMBLE << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_DETUMBLE_TGT =
|
||||
std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_DETUMBLE_TRANS_0 =
|
||||
std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_DETUMBLE_TRANS_1 =
|
||||
std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_SAFE =
|
||||
std::make_pair(acs::CtrlModes::SAFE << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_SAFE_TGT =
|
||||
std::make_pair((acs::CtrlModes::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
std::make_pair((acs::CtrlSubmode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_SAFE_TRANS_0 =
|
||||
std::make_pair((acs::CtrlModes::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
std::make_pair((acs::CtrlSubmode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_SAFE_TRANS_1 =
|
||||
std::make_pair((acs::CtrlModes::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_IDLE =
|
||||
std::make_pair(acs::CtrlModes::IDLE << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_SEQUENCE_IDLE = std::make_pair(acs::CtrlSubmode::IDLE, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_IDLE_TGT =
|
||||
std::make_pair((acs::CtrlModes::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
|
||||
std::make_pair((acs::CtrlSubmode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_IDLE_TRANS_0 =
|
||||
std::make_pair((acs::CtrlModes::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
std::make_pair((acs::CtrlSubmode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_IDLE_TRANS_1 =
|
||||
std::make_pair((acs::CtrlModes::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
std::make_pair((acs::CtrlSubmode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
|
||||
|
||||
auto ACS_SEQUENCE_IDLE_CHRG = std::make_pair(acs::CtrlModes::IDLE << 24 | (acs::IDLE_CHARGE << 8),
|
||||
FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_IDLE_CHRG_TGT = std::make_pair(
|
||||
(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_IDLE_CHRG_TRANS_0 = std::make_pair(
|
||||
(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_IDLE_CHRG_TRANS_1 = std::make_pair(
|
||||
(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_PTG_TRANS_0 =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
|
||||
auto ACS_SEQUENCE_TARGET_PT =
|
||||
std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_TARGET_PT_TGT =
|
||||
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_TARGET_PT_TRANS_0 =
|
||||
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_TARGET_PT_TRANS_1 =
|
||||
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
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_1 =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_PTG_TARGET_GS =
|
||||
std::make_pair(acs::CtrlSubmode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_PTG_TARGET_GS_TGT =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_PTG_TARGET_NADIR =
|
||||
std::make_pair(acs::CtrlSubmode::PTG_TARGET_NADIR, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 1,
|
||||
FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair(
|
||||
(acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
|
||||
std::make_pair(acs::CtrlSubmode::PTG_TARGET_INERTIAL, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair(
|
||||
(acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair(
|
||||
(acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
void satsystem::acs::init() {
|
||||
ModeListEntry entry;
|
||||
const char* ctxc = "satsystem::acs::init: generic target";
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
|
||||
entry.setObject(obj);
|
||||
entry.setMode(mode);
|
||||
entry.setSubmode(submode);
|
||||
check(table.insert(entry), "satsystem::acs::init: generic target");
|
||||
};
|
||||
// Build TARGET PT transition 0
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
check(ACS_SUBSYSTEM.addTable(
|
||||
TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
|
||||
ctxc);
|
||||
|
||||
buildOffSequence(ACS_SUBSYSTEM, entry);
|
||||
buildSafeSequence(ACS_SUBSYSTEM, entry);
|
||||
buildDetumbleSequence(ACS_SUBSYSTEM, entry);
|
||||
buildIdleSequence(ACS_SUBSYSTEM, entry);
|
||||
buildIdleChargeSequence(ACS_SUBSYSTEM, entry);
|
||||
buildTargetPtSequence(ACS_SUBSYSTEM, entry);
|
||||
ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
|
||||
buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
|
||||
buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
|
||||
buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
|
||||
ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE);
|
||||
}
|
||||
|
||||
namespace {
|
||||
@ -112,20 +147,24 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
};
|
||||
|
||||
// OFF Target table is empty
|
||||
check(ss.addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_OFF_TGT.first, &ACS_TABLE_OFF_TGT.second)), 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 transition 0
|
||||
iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS_0.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_0.first, &ACS_TABLE_OFF_TRANS_0.second)), ctxc);
|
||||
|
||||
// Build OFF transition 1
|
||||
iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), 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);
|
||||
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS_0.first, 0, false);
|
||||
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS_1.first, 0, false);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
|
||||
false, true),
|
||||
ctxc);
|
||||
@ -151,7 +190,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Build SAFE target
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TGT.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, 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);
|
||||
@ -167,7 +206,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
ctxc);
|
||||
|
||||
// Build SAFE transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
|
||||
ctxc);
|
||||
|
||||
@ -200,7 +239,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Build DETUMBLE target
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, 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);
|
||||
@ -218,7 +257,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
ctxc);
|
||||
|
||||
// Build DETUMBLE transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
|
||||
true),
|
||||
ctxc);
|
||||
@ -252,7 +291,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Build IDLE target
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, 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);
|
||||
@ -264,75 +303,21 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
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, OFF, 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::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TRANS_1.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, 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);
|
||||
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true);
|
||||
ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
|
||||
true);
|
||||
}
|
||||
|
||||
void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
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,
|
||||
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::CtrlModes::IDLE, acs::IDLE_CHARGE,
|
||||
ACS_TABLE_IDLE_CHRG_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
|
||||
check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE transition 0
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false,
|
||||
true),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
|
||||
ACS_TABLE_IDLE_CHRG_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false,
|
||||
true),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE sequence
|
||||
ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, 0, false);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first,
|
||||
ACS_SEQUENCE_SAFE.first, false, true),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildTargetPtSequence";
|
||||
auto ctxc = context.c_str();
|
||||
@ -354,38 +339,180 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
};
|
||||
|
||||
// Build TARGET PT table
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
check(ss.addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true),
|
||||
ctxc);
|
||||
|
||||
// Build TARGET PT transition 0
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false,
|
||||
true),
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET, 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);
|
||||
|
||||
// Transition 0 already built
|
||||
// Build TARGET PT transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false,
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
|
||||
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_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
|
||||
ACS_SEQUENCE_IDLE.first, false, true),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildTargetPtNadirSequence";
|
||||
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, NML, acs::CtrlSubmode::PTG_TARGET,
|
||||
ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
|
||||
&ACS_TABLE_PTG_TARGET_NADIR_TGT.second)),
|
||||
ctxc);
|
||||
|
||||
// Transition 0 already built
|
||||
// Build TARGET PT transition 1
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_NADIR,
|
||||
ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first,
|
||||
&ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE sequence
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, true);
|
||||
check(
|
||||
ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_NADIR.first,
|
||||
&ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_SEQUENCE_IDLE.first)),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildTargetPtGsSequence";
|
||||
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, NML, acs::CtrlSubmode::PTG_TARGET_GS,
|
||||
ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
check(ss.addTable(
|
||||
TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)),
|
||||
ctxc);
|
||||
|
||||
// Transition 0 already built
|
||||
// Build TARGET PT transition 1
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
|
||||
ACS_TABLE_PTG_TARGET_GS_TRANS_1.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_GS_TRANS_1.first,
|
||||
&ACS_TABLE_PTG_TARGET_GS_TRANS_1.second)),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE sequence
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, 0, true);
|
||||
check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_GS.first,
|
||||
&ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_SEQUENCE_IDLE.first)),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildTargetPtInertialSequence";
|
||||
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, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
|
||||
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,
|
||||
&ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second)),
|
||||
ctxc);
|
||||
|
||||
// Transition 0 already built
|
||||
// Build TARGET PT transition 1
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
|
||||
ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
|
||||
&ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE sequence
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, 0,
|
||||
true);
|
||||
check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_INERTIAL.first,
|
||||
&ACS_SEQUENCE_PTG_TARGET_INERTIAL.second,
|
||||
ACS_SEQUENCE_IDLE.first)),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
@ -1,11 +1,10 @@
|
||||
#include <fsfw/subsystem/modes/ModeDefinitions.h>
|
||||
#include <mission/system/objects/AcsSubsystem.h>
|
||||
|
||||
class Subsystem;
|
||||
|
||||
namespace satsystem {
|
||||
namespace acs {
|
||||
|
||||
extern Subsystem ACS_SUBSYSTEM;
|
||||
extern AcsSubsystem ACS_SUBSYSTEM;
|
||||
void init();
|
||||
|
||||
} // namespace acs
|
||||
|
2
tmtc
2
tmtc
@ -1 +1 @@
|
||||
Subproject commit 15adb9bf2ec68304a4f87b8dd418c1a8353283a3
|
||||
Subproject commit c3c58b95ada024e53a019c34b91f0552bfd487a7
|
Loading…
Reference in New Issue
Block a user