ACS updates
- Adapt ACS subsystem to handle events from ACS CTRL - Some fixes and updates for ACS subsystem
This commit is contained in:
@ -7,7 +7,7 @@
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#include <fsfw/subsystem/modes/ModeDefinitions.h>
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#include "eive/objects.h"
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#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
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#include "mission/acsDefs.h"
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#include "util.h"
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Subsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
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@ -20,64 +20,62 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
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void buildDetumbleSequence(Subsystem& ss, ModeListEntry& entryHelper);
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void buildSafeSequence(Subsystem& ss, ModeListEntry& entryHelper);
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void buildIdleSequence(Subsystem& ss, ModeListEntry& entryHelper);
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void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& entryHelper);
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void buildTargetPtSequence(Subsystem& ss, ModeListEntry& entryHelper);
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} // namespace
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static const auto OFF = HasModesIF::MODE_OFF;
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static const auto NML = DeviceHandlerIF::MODE_NORMAL;
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auto ACS_SEQUENCE_OFF =
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std::make_pair(acs::CtrlModes::OFF << 24, FixedArrayList<ModeListEntry, 2>());
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auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 2>());
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auto ACS_TABLE_OFF_TGT =
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std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
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std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
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auto ACS_TABLE_OFF_TRANS =
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std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());
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std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());
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auto ACS_SEQUENCE_DETUMBLE =
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std::make_pair(acs::CtrlModes::DETUMBLE << 24, FixedArrayList<ModeListEntry, 3>());
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std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_DETUMBLE_TGT =
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std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
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std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_DETUMBLE_TRANS_0 =
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std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_DETUMBLE_TRANS_1 =
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std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_SAFE =
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std::make_pair(acs::CtrlModes::SAFE << 24, FixedArrayList<ModeListEntry, 3>());
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auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_SAFE_TGT =
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std::make_pair((acs::CtrlModes::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
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std::make_pair((acs::CtrlSubmode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_SAFE_TRANS_0 =
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std::make_pair((acs::CtrlModes::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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std::make_pair((acs::CtrlSubmode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_SAFE_TRANS_1 =
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std::make_pair((acs::CtrlModes::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_IDLE =
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std::make_pair(acs::CtrlModes::IDLE << 24, FixedArrayList<ModeListEntry, 3>());
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auto ACS_SEQUENCE_IDLE = std::make_pair(acs::CtrlSubmode::IDLE, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_IDLE_TGT =
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std::make_pair((acs::CtrlModes::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
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std::make_pair((acs::CtrlSubmode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_IDLE_TRANS_0 =
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std::make_pair((acs::CtrlModes::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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std::make_pair((acs::CtrlSubmode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_IDLE_TRANS_1 =
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std::make_pair((acs::CtrlModes::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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std::make_pair((acs::CtrlSubmode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
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auto ACS_SEQUENCE_IDLE_CHRG = std::make_pair(acs::CtrlModes::IDLE << 24 | (acs::IDLE_CHARGE << 8),
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FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_IDLE_CHRG_TGT = std::make_pair(
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(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_IDLE_CHRG_TRANS_0 = std::make_pair(
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(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_IDLE_CHRG_TRANS_1 = std::make_pair(
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(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_PTG_TARGET =
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std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_PTG_TARGET_TGT =
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std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_PTG_TARGET_TRANS_0 =
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std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_PTG_TARGET_TRANS_1 =
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std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_TARGET_PT =
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std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
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/*
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auto ACS_SEQUENCE_PTG_TARGET =
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std::make_pair(acs::CtrlSubmode::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_TARGET_PT_TGT =
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std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_TARGET_PT_TRANS_0 =
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std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_TARGET_PT_TRANS_1 =
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std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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*/
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void satsystem::acs::init() {
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ModeListEntry entry;
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@ -85,9 +83,8 @@ void satsystem::acs::init() {
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buildSafeSequence(ACS_SUBSYSTEM, entry);
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buildDetumbleSequence(ACS_SUBSYSTEM, entry);
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buildIdleSequence(ACS_SUBSYSTEM, entry);
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buildIdleChargeSequence(ACS_SUBSYSTEM, entry);
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buildTargetPtSequence(ACS_SUBSYSTEM, entry);
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ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
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ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE);
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}
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namespace {
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@ -151,7 +148,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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check(sequence.insert(eh), ctxc);
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};
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// Build SAFE target
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::SAFE, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
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@ -167,7 +164,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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ctxc);
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// Build SAFE transition 1
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
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iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
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check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
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ctxc);
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@ -200,7 +197,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
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check(sequence.insert(eh), ctxc);
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};
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// Build DETUMBLE target
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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@ -218,7 +215,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
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ctxc);
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// Build DETUMBLE transition 1
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
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iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
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check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
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true),
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ctxc);
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@ -252,7 +249,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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check(sequence.insert(eh), ctxc);
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};
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// Build IDLE target
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
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@ -264,11 +261,11 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_TRANS_0.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
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// Build IDLE transition 1
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TRANS_1.second);
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iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::IDLE, 0, ACS_TABLE_IDLE_TRANS_1.second);
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ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
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// Build IDLE sequence
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@ -279,60 +276,6 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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true);
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}
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void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::acs::buildIdleChargeSequence";
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auto ctxc = context.c_str();
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// Insert Helper Table
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
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ArrayList<ModeListEntry>& sequence) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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bool checkSuccess) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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check(sequence.insert(eh), ctxc);
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};
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// Build IDLE target
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
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ACS_TABLE_IDLE_CHRG_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
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check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true),
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ctxc);
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// Build IDLE transition 0
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
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iht(objects::RW_ASS, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
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check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false,
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true),
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ctxc);
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// Build IDLE transition 1
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
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ACS_TABLE_IDLE_CHRG_TRANS_1.second);
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check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false,
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true),
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ctxc);
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// Build IDLE sequence
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ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TGT.first, 0, true);
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ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, 0, true);
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ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, 0, false);
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check(ss.addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first,
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ACS_SEQUENCE_SAFE.first, false, true),
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ctxc);
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}
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void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::acs::buildTargetPtSequence";
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auto ctxc = context.c_str();
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@ -354,36 +297,37 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
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};
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// Build TARGET PT table
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
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iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
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check(ss.addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true),
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iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
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ctxc);
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// Build TARGET PT transition 0
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false,
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
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iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
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check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_0.second, ACS_TABLE_PTG_TARGET_TRANS_0.first, false,
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true),
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ctxc);
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// Build TARGET PT transition 1
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
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check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false,
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iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::PTG_TARGET, 0,
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ACS_TABLE_PTG_TARGET_TRANS_1.second);
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check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
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true),
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ctxc);
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// Build IDLE sequence
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ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, true);
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ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, true);
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ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
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check(ss.addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
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ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, false);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
|
||||
ACS_SEQUENCE_IDLE.first, false, true),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user