add EPS to transitions

mission/system/power/epsModeTree.cpp

@@ -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

mission/system/systemTree.cpp

@@ -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);