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add EPS to transitions
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This commit is contained in:
Marius Eggert 2023-09-27 11:55:33 +02:00
parent 8275c10b69
commit 23b15cf302
2 changed files with 79 additions and 8 deletions
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73
mission/system/power/epsModeTree.cpp
View File

@ -20,23 +20,86 @@ static const auto NML = DeviceHandlerIF::MODE_NORMAL;
auto EPS_SEQUENCE_OFF = std::make_pair(OFF, FixedArrayList<ModeListEntry, 3>());
auto EPS_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 2>());
auto EPS_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 2>());
auto EPS_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 3, FixedArrayList<ModeListEntry, 7>());
auto EPS_SEQUENCE_NORMAL = std::make_pair(NML, FixedArrayList<ModeListEntry, 3>());
auto EPS_TABLE_NORMAL_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 2>());
auto EPS_TABLE_NORMAL_TRANS_0 = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 7>());
auto EPS_TABLE_NORMAL_TRANS_1 = std::make_pair((NML << 24) | 3, FixedArrayList<ModeListEntry, 2>());
Subsystem& satsystem::eps::init() {
ModeListEntry entry;
buildOffSequence(SUBSYSTEM, entry);
buildNormalSequence(SUBSYSTEM, entry);
SUBSYSTEM.setInitialMode(OFF);
SUBSYSTEM.setInitialMode(NML);
return SUBSYSTEM;
}
namespace {
void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {}
void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::eps::buildOffSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(table.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {} // namespace
// OFF target table is empty
check(ss.addTable(TableEntry(EPS_TABLE_OFF_TGT.first, &EPS_TABLE_OFF_TGT.second)), ctxc);
// Transition 0
iht(objects::POWER_CONTROLLER, OFF, 0, EPS_TABLE_OFF_TRANS_0.second);
check(ss.addTable(TableEntry(EPS_TABLE_OFF_TRANS_0.first, &EPS_TABLE_OFF_TRANS_0.second)), ctxc);
ihs(EPS_SEQUENCE_OFF.second, EPS_TABLE_OFF_TGT.first, 0, false);
ihs(EPS_SEQUENCE_OFF.second, EPS_TABLE_OFF_TRANS_0.first, 0, false);
check(ss.addSequence(SequenceEntry(EPS_SEQUENCE_OFF.first, &EPS_SEQUENCE_OFF.second,
EPS_SEQUENCE_OFF.first)),
ctxc);
}
} // namespace
void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::tcs::buildNormalSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(table.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
// Normal target table
iht(objects::POWER_CONTROLLER, NML, 0, EPS_TABLE_NORMAL_TGT.second);
check(ss.addTable(TableEntry(EPS_TABLE_NORMAL_TGT.first, &EPS_TABLE_NORMAL_TGT.second)), ctxc);
// Transition 0
iht(objects::POWER_CONTROLLER, NML, 0, EPS_TABLE_NORMAL_TRANS_0.second);
check(ss.addTable(TableEntry(EPS_TABLE_NORMAL_TRANS_0.first, &EPS_TABLE_NORMAL_TRANS_0.second)),
ctxc);
ihs(EPS_SEQUENCE_NORMAL.second, EPS_TABLE_NORMAL_TGT.first, 0, false);
ihs(EPS_SEQUENCE_NORMAL.second, EPS_TABLE_NORMAL_TRANS_0.first, 0, false);
check(ss.addSequence(SequenceEntry(EPS_SEQUENCE_NORMAL.first, &EPS_SEQUENCE_NORMAL.second,
EPS_SEQUENCE_NORMAL.first)),
ctxc);
} // namespace

14
mission/system/systemTree.cpp
View File

@ -144,9 +144,11 @@ void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TGT.second);
iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
iht(objects::EPS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TGT.first, &EIVE_TABLE_BOOT_TGT.second)), ctxc);
// Build SAFE transition 0.
// Build BOOT transition 0.
iht(objects::EPS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TRANS_0.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
@ -154,7 +156,7 @@ void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TRANS_0.first, &EIVE_TABLE_BOOT_TRANS_0.second)),
ctxc);
// Build Safe sequence
// Build BOOT sequence
ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TRANS_0.first, 0, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_BOOT.first, &EIVE_SEQUENCE_BOOT.second,
@ -190,13 +192,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
// Build SAFE transition 0.
iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true);
check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
ctxc);
// Build Safe sequence
// Build SAFE sequence
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
@ -227,6 +230,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
// Build IDLE transition 0
iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_0.second);
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
@ -264,6 +268,7 @@ void buildPtgNadirSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build PTG_NADIR transition 0
iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_NADIR, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
check(ss.addTable(
@ -302,6 +307,7 @@ void buildPtgTargetSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build PTG_TARGET transition 0
iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
check(ss.addTable(
@ -341,6 +347,7 @@ void buildPtgTargetGsSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build PTG_TARGET_GS transition 0
iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET_GS, 0,
EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
@ -382,6 +389,7 @@ void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build PTG_INERTIAL transition 0
iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_INERTIAL, 0,
EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);