eive/eive-obsw
eive/eive-obsw
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continue TCS mode tree
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This commit is contained in:
Robin Müller 2022-11-14 13:46:26 +01:00
parent 859855ed31
commit 24093e13e7
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GPG Key ID: 11D4952C8CCEF814
4 changed files with 50 additions and 17 deletions
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4
mission/system/tree/CMakeLists.txt
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@ -1,2 +1,2 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp payloadModeTree.cpp tcsModeTree.cpp
system.cpp util.cpp)
target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp payloadModeTree.cpp
tcsModeTree.cpp system.cpp util.cpp)

28
mission/system/tree/acsModeTree.cpp
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@ -16,7 +16,7 @@ namespace {
// Alias for checker function
const auto check = subsystem::checkInsert;
void buildOffSequence(Subsystem&ss, ModeListEntry& eh);
void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
void buildDetumbleSequence(Subsystem& ss, ModeListEntry& entryHelper);
void buildSafeSequence(Subsystem& ss, ModeListEntry& entryHelper);
void buildIdleSequence(Subsystem& ss, ModeListEntry& entryHelper);
@ -127,7 +127,7 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false);
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS.first, 0, false);
check(ss.addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
false, true),
false, true),
ctxc);
}
@ -176,7 +176,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false);
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
false, true),
false, true),
ctxc);
}
@ -214,13 +214,13 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
true),
true),
ctxc);
// Build DETUMBLE transition 1
iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
true),
true),
ctxc);
// Build DETUMBLE sequence
@ -228,7 +228,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false);
ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false);
check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
ACS_SEQUENCE_SAFE.first, false, true),
ACS_SEQUENCE_SAFE.first, false, true),
ctxc);
}
@ -275,8 +275,8 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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);
ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first,
false, true);
ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
true);
}
void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& eh) {
@ -314,14 +314,14 @@ void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& eh) {
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),
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),
true),
ctxc);
// Build IDLE sequence
@ -329,7 +329,7 @@ void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& eh) {
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),
ACS_SEQUENCE_SAFE.first, false, true),
ctxc);
}
@ -370,13 +370,13 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
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),
true),
ctxc);
// 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,
true),
true),
ctxc);
// Build IDLE sequence
@ -384,7 +384,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
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,
ACS_SEQUENCE_IDLE.first, false, true),
ACS_SEQUENCE_IDLE.first, false, true),
ctxc);
}

2
mission/system/tree/system.cpp
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@ -2,8 +2,10 @@
#include "acsModeTree.h"
#include "payloadModeTree.h"
#include "tcsModeTree.h"
void satsystem::init() {
acs::init();
pl::init();
tcs::init();
}

33
mission/system/tree/tcsModeTree.cpp
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@ -1,12 +1,43 @@
#include "tcsModeTree.h"
#include "eive/objects.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/subsystem/Subsystem.h"
#include "mission/system/tree/util.h"
#include "eive/objects.h"
Subsystem satsystem::tcs::SUBSYSTEM(objects::TCS_SUBSYSTEM, 12, 24);
namespace {
// Alias for checker function
const auto check = subsystem::checkInsert;
void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
void buildNormalSequence(Subsystem& ss, ModeListEntry& eh);
} // namespace
static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
auto TCS_SEQUENCE_OFF = std::make_pair(OFF << 24, FixedArrayList<ModeListEntry, 2>());
auto TCS_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto TCS_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 4>());
auto TCS_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 4>());
auto TCS_SEQUENCE_NORMAL = std::make_pair(NML << 24, FixedArrayList<ModeListEntry, 2>());
auto TCS_TABLE_NORMAL_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto TCS_TABLE_NORMAL_TRANS_0 = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 4>());
auto TCS_TABLE_NORMAL_TRANS_1 = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 4>());
void satsystem::tcs::init() {
ModeListEntry entry;
buildOffSequence(SUBSYSTEM, entry);
buildNormalSequence(SUBSYSTEM, entry);
SUBSYSTEM.setInitialMode(OFF);
}
namespace {
void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {}
void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {}
} // namespace