From 24093e13e70c576036a830764e559ed205458264 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Nov 2022 13:46:26 +0100 Subject: [PATCH] continue TCS mode tree --- mission/system/tree/CMakeLists.txt | 4 ++-- mission/system/tree/acsModeTree.cpp | 28 ++++++++++++------------ mission/system/tree/system.cpp | 2 ++ mission/system/tree/tcsModeTree.cpp | 33 ++++++++++++++++++++++++++++- 4 files changed, 50 insertions(+), 17 deletions(-) diff --git a/mission/system/tree/CMakeLists.txt b/mission/system/tree/CMakeLists.txt index 30bcfcb9..9a48af42 100644 --- a/mission/system/tree/CMakeLists.txt +++ b/mission/system/tree/CMakeLists.txt @@ -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) diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index ec863027..3c80c842 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -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); } diff --git a/mission/system/tree/system.cpp b/mission/system/tree/system.cpp index 4455588f..2a7cdcb6 100644 --- a/mission/system/tree/system.cpp +++ b/mission/system/tree/system.cpp @@ -2,8 +2,10 @@ #include "acsModeTree.h" #include "payloadModeTree.h" +#include "tcsModeTree.h" void satsystem::init() { acs::init(); pl::init(); + tcs::init(); } diff --git a/mission/system/tree/tcsModeTree.cpp b/mission/system/tree/tcsModeTree.cpp index a6f2ba37..693af140 100644 --- a/mission/system/tree/tcsModeTree.cpp +++ b/mission/system/tree/tcsModeTree.cpp @@ -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()); +auto TCS_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList()); +auto TCS_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList()); +auto TCS_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 2, FixedArrayList()); + +auto TCS_SEQUENCE_NORMAL = std::make_pair(NML << 24, FixedArrayList()); +auto TCS_TABLE_NORMAL_TGT = std::make_pair((NML << 24) | 1, FixedArrayList()); +auto TCS_TABLE_NORMAL_TRANS_0 = std::make_pair((NML << 24) | 2, FixedArrayList()); +auto TCS_TABLE_NORMAL_TRANS_1 = std::make_pair((NML << 24) | 2, FixedArrayList()); + +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