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:
Robin Müller 2023-02-03 14:28:05 +01:00
commit 129399c40e
17 changed files with 424 additions and 181 deletions

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@ -17,6 +17,23 @@ change warranting a new major release:
# [unreleased] # [unreleased]
- `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested
as well. Other modes still need to be tested.
## Fixed
- `AcsController`: Parameter fix in `DetumbleParameter`.
- Set GPS set entries to invalid on MODE_OFF command.
## Changed
- ACS Subsystem Sequence Mode IDs updated.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130
- Update and tweak ACS subsystem to represent the actual ACS design
- Event handling in the ACS subsystem for events triggered by the ACS controller.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
# [v1.23.1] 2023-02-02 # [v1.23.1] 2023-02-02
TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3 TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3

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@ -84,7 +84,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h 10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h 10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h 10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/controller/AcsController.h 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;mission/acsDefs.h
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 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
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 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
11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
84 10800 0x2a30 STORE_ERROR LOW fsfw/src/fsfw/cfdp/handler/defs.h
85 10801 0x2a31 MSG_QUEUE_ERROR LOW fsfw/src/fsfw/cfdp/handler/defs.h
86 10802 0x2a32 SERIALIZATION_ERROR LOW fsfw/src/fsfw/cfdp/handler/defs.h
87 11200 0x2bc0 SAFE_RATE_VIOLATION MEDIUM mission/controller/AcsController.h mission/acsDefs.h
88 11201 0x2bc1 SAFE_RATE_RECOVERY MEDIUM mission/acsDefs.h
89 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
90 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
91 11302 0x2c26 SWITCHING_Q7S_DENIED MEDIUM mission/devices/devicedefinitions/powerDefinitions.h

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@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 244 translations. * @brief Auto-generated event translation file. Contains 245 translations.
* @details * @details
* Generated on: 2023-02-01 19:42:11 * Generated on: 2023-02-03 10:52:53
*/ */
#include "translateEvents.h" #include "translateEvents.h"
@ -91,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR"; const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR"; const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION"; const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED"; const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED"; const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -419,6 +420,8 @@ const char *translateEvents(Event event) {
return SERIALIZATION_ERROR_STRING; return SERIALIZATION_ERROR_STRING;
case (11200): case (11200):
return SAFE_RATE_VIOLATION_STRING; return SAFE_RATE_VIOLATION_STRING;
case (11201):
return SAFE_RATE_RECOVERY_STRING;
case (11300): case (11300):
return SWITCH_CMD_SENT_STRING; return SWITCH_CMD_SENT_STRING;
case (11301): case (11301):

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 152 translations. * Contains 152 translations.
* Generated on: 2023-02-01 19:42:11 * Generated on: 2023-02-03 10:52:53
*/ */
#include "translateObjects.h" #include "translateObjects.h"

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@ -48,6 +48,9 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
return HasModesIF::INVALID_MODE; return HasModesIF::INVALID_MODE;
} }
} }
if (mode == MODE_OFF) {
gpsSet.setValidity(false, true);
}
return returnvalue::OK; return returnvalue::OK;
} }

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@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 244 translations. * @brief Auto-generated event translation file. Contains 245 translations.
* @details * @details
* Generated on: 2023-02-01 19:42:11 * Generated on: 2023-02-03 10:52:53
*/ */
#include "translateEvents.h" #include "translateEvents.h"
@ -91,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR"; const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR"; const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION"; const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED"; const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED"; const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -419,6 +420,8 @@ const char *translateEvents(Event event) {
return SERIALIZATION_ERROR_STRING; return SERIALIZATION_ERROR_STRING;
case (11200): case (11200):
return SAFE_RATE_VIOLATION_STRING; return SAFE_RATE_VIOLATION_STRING;
case (11201):
return SAFE_RATE_RECOVERY_STRING;
case (11300): case (11300):
return SWITCH_CMD_SENT_STRING; return SWITCH_CMD_SENT_STRING;
case (11301): case (11301):

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 152 translations. * Contains 152 translations.
* Generated on: 2023-02-01 19:42:11 * Generated on: 2023-02-03 10:52:53
*/ */
#include "translateObjects.h" #include "translateObjects.h"

28
mission/acsDefs.h Normal file
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@ -0,0 +1,28 @@
#ifndef MISSION_ACSDEFS_H_
#define MISSION_ACSDEFS_H_
#include <eive/eventSubsystemIds.h>
#include <fsfw/modes/HasModesIF.h>
namespace acs {
enum CtrlSubmode {
OFF = HasModesIF::MODE_OFF,
SAFE = 2,
DETUMBLE = 3,
IDLE = 4,
PTG_TARGET_NADIR = 5,
PTG_TARGET = 6,
PTG_TARGET_GS = 7,
PTG_TARGET_INERTIAL = 8,
};
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
//!< The limits for the rotation in safe mode were violated.
static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
//!< The system has recovered from a safe rate rotation violation.
static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
} // namespace acs
#endif /* MISSION_ACSDEFS_H_ */

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@ -2,6 +2,7 @@
#include <fsfw/datapool/PoolReadGuard.h> #include <fsfw/datapool/PoolReadGuard.h>
#include "mission/acsDefs.h"
#include "mission/config/torquer.h" #include "mission/config/torquer.h"
AcsController::AcsController(object_id_t objectId) AcsController::AcsController(object_id_t objectId)
@ -45,15 +46,15 @@ void AcsController::performControlOperation() {
case InternalState::READY: { case InternalState::READY: {
if (mode != MODE_OFF) { if (mode != MODE_OFF) {
switch (submode) { switch (submode) {
case SUBMODE_SAFE: case acs::SAFE:
performSafe(); performSafe();
break; break;
case SUBMODE_DETUMBLE: case acs::DETUMBLE:
performDetumble(); performDetumble();
break; break;
case SUBMODE_PTG_TARGET: case acs::PTG_TARGET:
case SUBMODE_PTG_NADIR: case acs::PTG_TARGET_NADIR:
case SUBMODE_PTG_INERTIAL: case acs::PTG_TARGET_INERTIAL:
performPointingCtrl(); performPointingCtrl();
break; break;
} }
@ -151,9 +152,9 @@ void AcsController::performSafe() {
detumbleCounter = 0; detumbleCounter = 0;
} }
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_DETUMBLE;
detumbleCounter = 0; detumbleCounter = 0;
triggerEvent(SAFE_RATE_VIOLATION); // Triggers detubmle mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
} }
{ {
@ -208,8 +209,9 @@ void AcsController::performDetumble() {
detumbleCounter = 0; detumbleCounter = 0;
} }
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_SAFE;
detumbleCounter = 0; detumbleCounter = 0;
// Triggers safe mode transition in subsystem
triggerEvent(acs::SAFE_RATE_RECOVERY);
} }
int16_t cmdDipolUnitsInt[3] = {0, 0, 0}; int16_t cmdDipolUnitsInt[3] = {0, 0, 0};

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@ -24,16 +24,6 @@ class AcsController : public ExtendedControllerBase {
AcsController(object_id_t objectId); AcsController(object_id_t objectId);
static const Submode_t SUBMODE_SAFE = 2;
static const Submode_t SUBMODE_DETUMBLE = 3;
static const Submode_t SUBMODE_PTG_TARGET = 4;
static const Submode_t SUBMODE_PTG_NADIR = 5;
static const Submode_t SUBMODE_PTG_INERTIAL = 6;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
static const Event SAFE_RATE_VIOLATION =
MAKE_EVENT(0, severity::MEDIUM); //!< The limits for the rotation in safe mode were violated.
protected: protected:
void performSafe(); void performSafe();
void performDetumble(); void performDetumble();

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@ -899,8 +899,8 @@ class AcsParameters /*: public HasParametersIF*/ {
struct DetumbleParameter { struct DetumbleParameter {
uint8_t detumblecounter = 75; // 30 s uint8_t detumblecounter = 75; // 30 s
double omegaDetumbleStart = 2 * M_PI / 180; double omegaDetumbleStart = 2;
double omegaDetumbleEnd = 0.4 * M_PI / 180; double omegaDetumbleEnd = 0.4;
double gainD = pow(10.0, -3.3); double gainD = pow(10.0, -3.3);
} detumbleParameter; } detumbleParameter;
}; };

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@ -1,14 +0,0 @@
#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
#include <fsfw/modes/HasModesIF.h>
namespace acs {
enum CtrlModes { OFF = HasModesIF::MODE_OFF, SAFE = 1, DETUMBLE = 2, IDLE = 3, TARGET_PT = 4 };
static constexpr Submode_t IDLE_CHARGE = 1;
} // namespace acs
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */

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@ -1,5 +1,83 @@
#include "AcsSubsystem.h" #include "AcsSubsystem.h"
#include <fsfw/events/EventManagerIF.h>
#include <fsfw/ipc/QueueFactory.h>
#include "fsfw/modes/ModeMessage.h"
#include "mission/acsDefs.h"
AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables) uint32_t maxNumberOfTables)
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {} : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
eventQueue =
QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
}
ReturnValue_t AcsSubsystem::initialize() {
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
ReturnValue_t result = manager->registerListener(eventQueue->getId());
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "AcsSubsystem::registerListener: Failed to register as "
"listener"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
;
}
result =
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_VIOLATION));
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_VIOLATION failed" << std::endl;
}
result =
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_RECOVERY));
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
}
return Subsystem::initialize();
}
void AcsSubsystem::performChildOperation() {
handleEventMessages();
return Subsystem::performChildOperation();
}
void AcsSubsystem::handleEventMessages() {
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
result = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
CommandMessage msg;
ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0);
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
}
}
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;
}
}
}

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@ -8,6 +8,12 @@ class AcsSubsystem : public Subsystem {
AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables); AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
private: private:
ReturnValue_t initialize() override;
void performChildOperation() override;
void handleEventMessages();
MessageQueueIF* eventQueue = nullptr;
}; };
#endif /* MISSION_SYSTEM_ACSSUBSYSTEM_H_ */ #endif /* MISSION_SYSTEM_ACSSUBSYSTEM_H_ */

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@ -7,10 +7,10 @@
#include <fsfw/subsystem/modes/ModeDefinitions.h> #include <fsfw/subsystem/modes/ModeDefinitions.h>
#include "eive/objects.h" #include "eive/objects.h"
#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h" #include "mission/acsDefs.h"
#include "util.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 { namespace {
// Alias for checker function // Alias for checker function
@ -20,74 +20,109 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
void buildDetumbleSequence(Subsystem& ss, ModeListEntry& entryHelper); void buildDetumbleSequence(Subsystem& ss, ModeListEntry& entryHelper);
void buildSafeSequence(Subsystem& ss, ModeListEntry& entryHelper); void buildSafeSequence(Subsystem& ss, ModeListEntry& entryHelper);
void buildIdleSequence(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 buildTargetPtSequence(Subsystem& ss, ModeListEntry& entryHelper);
void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& entryHelper);
void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
} // namespace } // namespace
static const auto OFF = HasModesIF::MODE_OFF; static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL; static const auto NML = DeviceHandlerIF::MODE_NORMAL;
auto ACS_SEQUENCE_OFF = auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 3>());
std::make_pair(acs::CtrlModes::OFF << 24, FixedArrayList<ModeListEntry, 2>());
auto ACS_TABLE_OFF_TGT = auto ACS_TABLE_OFF_TGT =
std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>()); std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
auto ACS_TABLE_OFF_TRANS = auto ACS_TABLE_OFF_TRANS_0 =
std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>()); 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 = 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 = 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 = 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 = 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 = auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList<ModeListEntry, 3>());
std::make_pair(acs::CtrlModes::SAFE << 24, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_SAFE_TGT = 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 = 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 = 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 = auto ACS_SEQUENCE_IDLE = std::make_pair(acs::CtrlSubmode::IDLE, FixedArrayList<ModeListEntry, 3>());
std::make_pair(acs::CtrlModes::IDLE << 24, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_IDLE_TGT = 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 = 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 = 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), auto ACS_TABLE_PTG_TRANS_0 =
FixedArrayList<ModeListEntry, 3>()); std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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_SEQUENCE_TARGET_PT = auto ACS_SEQUENCE_PTG_TARGET =
std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>()); std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_TARGET_PT_TGT = auto ACS_TABLE_PTG_TARGET_TGT =
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>()); std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_TARGET_PT_TRANS_0 = auto ACS_TABLE_PTG_TARGET_TRANS_1 =
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>()); std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_TABLE_TARGET_PT_TRANS_1 =
std::make_pair((acs::CtrlModes::TARGET_PT << 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() { void satsystem::acs::init() {
ModeListEntry entry; 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); buildOffSequence(ACS_SUBSYSTEM, entry);
buildSafeSequence(ACS_SUBSYSTEM, entry); buildSafeSequence(ACS_SUBSYSTEM, entry);
buildDetumbleSequence(ACS_SUBSYSTEM, entry); buildDetumbleSequence(ACS_SUBSYSTEM, entry);
buildIdleSequence(ACS_SUBSYSTEM, entry); buildIdleSequence(ACS_SUBSYSTEM, entry);
buildIdleChargeSequence(ACS_SUBSYSTEM, entry);
buildTargetPtSequence(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 { namespace {
@ -112,20 +147,24 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
}; };
// OFF Target table is empty // 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 // Build OFF transition 0
iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second); iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS_0.second);
iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS.second); check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_0.first, &ACS_TABLE_OFF_TRANS_0.second)), ctxc);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second); // Build OFF transition 1
iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second); iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
check(ss.addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true), ctxc); 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 // Build OFF sequence
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false); 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, check(ss.addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
false, true), false, true),
ctxc); ctxc);
@ -151,7 +190,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc); check(sequence.insert(eh), ctxc);
}; };
// Build SAFE target // 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::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
iht(objects::SUS_BOARD_ASS, 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); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
@ -167,7 +206,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc); ctxc);
// Build SAFE transition 1 // 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), check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
ctxc); ctxc);
@ -200,7 +239,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc); check(sequence.insert(eh), ctxc);
}; };
// Build DETUMBLE target // 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::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
iht(objects::SUS_BOARD_ASS, 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); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
@ -218,7 +257,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc); ctxc);
// Build DETUMBLE transition 1 // 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, check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
true), true),
ctxc); ctxc);
@ -252,7 +291,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc); check(sequence.insert(eh), ctxc);
}; };
// Build IDLE target // 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::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::RW_ASS, 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::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::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::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::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); ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
// Build IDLE transition 1 // 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); ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
// Build IDLE sequence // Build IDLE sequence
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true); 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_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, ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
true); 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) { void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::acs::buildTargetPtSequence"; std::string context = "satsystem::acs::buildTargetPtSequence";
auto ctxc = context.c_str(); auto ctxc = context.c_str();
@ -354,38 +339,180 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
}; };
// Build TARGET PT table // Build TARGET PT table
iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TGT.second); iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second); iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
check(ss.addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true), 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_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),
ctxc); ctxc);
// Transition 0 already built
// Build TARGET PT transition 1 // Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second); iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false, 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), true),
ctxc); ctxc);
// Build IDLE sequence // Build IDLE sequence
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true);
check(ss.addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first, check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
ACS_SEQUENCE_IDLE.first, false, true), ACS_SEQUENCE_IDLE.first, false, true),
ctxc); 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 } // namespace

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@ -1,11 +1,10 @@
#include <fsfw/subsystem/modes/ModeDefinitions.h> #include <mission/system/objects/AcsSubsystem.h>
class Subsystem;
namespace satsystem { namespace satsystem {
namespace acs { namespace acs {
extern Subsystem ACS_SUBSYSTEM; extern AcsSubsystem ACS_SUBSYSTEM;
void init(); void init();
} // namespace acs } // namespace acs

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tmtc

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Subproject commit 15adb9bf2ec68304a4f87b8dd418c1a8353283a3 Subproject commit c3c58b95ada024e53a019c34b91f0552bfd487a7