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com subsystem
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This commit is contained in:
Robin Müller
2023-01-27 14:44:40 +01:00
parent d58e79d1ec
commit 438f9f3358
14 changed files with 179 additions and 80 deletions
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172
mission/system/tree/comModeTree.cpp
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@ -1,11 +1,12 @@
#include "comModeTree.h"
#include "eive/objects.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/returnvalues/returnvalue.h>
#include <fsfw/subsystem/Subsystem.h>
#include "eive/objects.h"
#include "mission/comDefs.h"
#include "util.h"
const auto check = subsystem::checkInsert;
@ -16,30 +17,47 @@ static const auto OFF = HasModesIF::MODE_OFF;
static const auto ON = HasModesIF::MODE_ON;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
auto COM_SEQUENCE_TX_OFF = std::make_pair(NML << 24, FixedArrayList<ModeListEntry, 2>());
auto COM_TABLE_TX_OFF_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 1>());
auto COM_TABLE_TX_OFF_TRANS = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto COM_SEQUENCE_RX_ONLY = std::make_pair(NML, FixedArrayList<ModeListEntry, 2>());
auto COM_TABLE_RX_ONLY_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 3>());
auto COM_TABLE_RX_ONLY_TRANS_0 =
std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 3>());
auto COM_TABLE_RX_ONLY_TRANS_1 =
std::make_pair((NML << 24) | 3, FixedArrayList<ModeListEntry, 3>());
auto COM_SEQUENCE_TX_ON = std::make_pair(NML << 24, FixedArrayList<ModeListEntry, 2>());
auto COM_TABLE_TX_ON_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 1>());
auto COM_TABLE_TX_ON_TRANS = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto COM_SEQUENCE_RX_AND_TX_LOW_RATE = std::make_pair(NML, FixedArrayList<ModeListEntry, 2>());
auto COM_TABLE_RX_AND_TX_LOW_RATE_TGT =
std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 1>());
auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0 =
std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1 =
std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto COM_SEQUENCE_RX_AND_TX_HIGH_RATE = std::make_pair(NML, FixedArrayList<ModeListEntry, 2>());
auto COM_TABLE_RX_AND_TX_HIGH_RATE_TGT =
std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 1>());
auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0 =
std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1 =
std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 6>());
namespace {
void buildTxOffSequence(Subsystem& ss, ModeListEntry& eh);
void buildTxOnSequence(Subsystem& ss, ModeListEntry& eh);
void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh);
void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh);
void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh);
} // namespace
void satsystem::com::init() {
ModeListEntry entry;
buildTxOffSequence(SUBSYSTEM, entry);
buildTxOnSequence(SUBSYSTEM, entry);
SUBSYSTEM.setInitialMode(NML, 0 /* TODO: Which submode? */);
buildRxOnlySequence(SUBSYSTEM, entry);
buildTxAndRxLowRateSequence(SUBSYSTEM, entry);
buildTxAndRxHighRateSequence(SUBSYSTEM, entry);
SUBSYSTEM.setInitialMode(NML, ::com::Submode::RX_ONLY);
}
namespace {
void buildTxOffSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::com::buildTxOffSequence";
void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::com::buildRxOnlySequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
@ -57,24 +75,33 @@ void buildTxOffSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// Build TX OFF table
iht(objects::SYRLINKS_HK_HANDLER, NML, 0/* TODO */, COM_TABLE_TX_OFF_TGT.second);
check(ss.addTable(TableEntry(COM_SEQUENCE_TX_OFF.first, &COM_TABLE_TX_OFF_TGT.second)), ctxc);
// Build RX Only table. We could track the state of the CCSDS IP core handler
// as well but I do not think this is necessary because enabling that should
// not intefere with the Syrlinks Handler.
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TGT.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TGT.first, &COM_TABLE_RX_ONLY_TGT.second)), ctxc);
// Build TX OFF transition
iht(objects::SYRLINKS_HK_HANDLER, NML, 0/* TODO */, COM_TABLE_TX_OFF_TRANS.second);
check(ss.addTable(TableEntry(COM_SEQUENCE_TX_OFF.first, &COM_TABLE_TX_OFF_TRANS.second)), ctxc);
// Build RX Only transition 0
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TRANS_0.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TRANS_0.first, &COM_TABLE_RX_ONLY_TRANS_0.second)),
ctxc);
// Build RX Only transition 1
iht(objects::CCSDS_IP_CORE_BRIDGE, OFF, 0, COM_TABLE_RX_ONLY_TRANS_1.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TRANS_1.first, &COM_TABLE_RX_ONLY_TRANS_1.second)),
ctxc);
// Build TX OFF sequence
ihs(COM_SEQUENCE_TX_OFF.second, COM_TABLE_TX_OFF_TGT.first, 0, false);
ihs(COM_SEQUENCE_TX_OFF.second, COM_TABLE_TX_OFF_TRANS.first, 0, false);
check(ss.addSequence(SequenceEntry(COM_TABLE_TX_OFF_TRANS.first, &COM_TABLE_TX_OFF_TRANS.second,
COM_TABLE_TX_OFF_TRANS.first)),
ihs(COM_SEQUENCE_RX_ONLY.second, COM_TABLE_RX_ONLY_TGT.first, 0, true);
ihs(COM_SEQUENCE_RX_ONLY.second, COM_TABLE_RX_ONLY_TRANS_0.first, 0, true);
ihs(COM_SEQUENCE_RX_ONLY.second, COM_TABLE_RX_ONLY_TRANS_1.first, 0, true);
check(ss.addSequence(SequenceEntry(COM_SEQUENCE_RX_ONLY.first, &COM_SEQUENCE_RX_ONLY.second,
COM_SEQUENCE_RX_ONLY.first)),
ctxc);
}
void buildTxOnSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::com::buildTxOnSequence";
void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::com::buildTxAndRxLowRateSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
@ -92,19 +119,90 @@ void buildTxOnSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// Build TX ON table
iht(objects::SYRLINKS_HK_HANDLER, NML, /*TODO*/0, COM_TABLE_TX_ON_TGT.second);
check(ss.addTable(TableEntry(COM_SEQUENCE_TX_ON.first, &COM_TABLE_TX_ON_TGT.second)), ctxc);
// Build RX and TX low datarate table.
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second);
iht(objects::CCSDS_IP_CORE_BRIDGE, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_LOW),
COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TGT.first,
&COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second)),
ctxc);
// Build TX ON transition
iht(objects::SYRLINKS_HK_HANDLER, NML, /*TODO*/0, COM_TABLE_TX_ON_TRANS.second);
check(ss.addTable(TableEntry(COM_SEQUENCE_TX_ON.first, &COM_TABLE_TX_ON_TRANS.second)), ctxc);
// Build TX and RX low datarate transition 0, switch CCSDS handler first
iht(objects::CCSDS_IP_CORE_BRIDGE, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_LOW),
COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0.first,
&COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0.second)),
ctxc);
// Build TX ON sequence
ihs(COM_SEQUENCE_TX_ON.second, COM_TABLE_TX_ON_TGT.first, 0, false);
ihs(COM_SEQUENCE_TX_ON.second, COM_TABLE_TX_ON_TRANS.first, 0, false);
check(ss.addSequence(SequenceEntry(COM_TABLE_TX_ON_TRANS.first, &COM_TABLE_TX_ON_TRANS.second,
COM_TABLE_TX_ON_TRANS.first)),
// Build TX and RX low transition 1
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.first,
&COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second)),
ctxc);
// Build TX and RX low datarate sequence
ihs(COM_SEQUENCE_RX_AND_TX_LOW_RATE.second, COM_TABLE_RX_AND_TX_LOW_RATE_TGT.first, 0, true);
ihs(COM_SEQUENCE_RX_AND_TX_LOW_RATE.second, COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0.first, 0, true);
ihs(COM_SEQUENCE_RX_AND_TX_LOW_RATE.second, COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.first, 0, true);
check(ss.addSequence(SequenceEntry(COM_SEQUENCE_RX_AND_TX_LOW_RATE.first,
&COM_SEQUENCE_RX_AND_TX_LOW_RATE.second,
COM_SEQUENCE_RX_ONLY.first)),
ctxc);
}
void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::com::buildTxAndRxHighRateSequence";
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);
};
// Build RX and TX low datarate table.
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second);
iht(objects::CCSDS_IP_CORE_BRIDGE, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_HIGH),
COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.first,
&COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second)),
ctxc);
// Build TX and RX low datarate transition 0, switch CCSDS handler first
iht(objects::CCSDS_IP_CORE_BRIDGE, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_HIGH),
COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0.first,
&COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0.second)),
ctxc);
// Build TX and RX low transition 1
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.first,
&COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second)),
ctxc);
// Build TX and RX low datarate sequence
ihs(COM_SEQUENCE_RX_AND_TX_HIGH_RATE.second, COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.first, 0, true);
ihs(COM_SEQUENCE_RX_AND_TX_HIGH_RATE.second, COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0.first, 0,
true);
ihs(COM_SEQUENCE_RX_AND_TX_HIGH_RATE.second, COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.first, 0,
true);
check(ss.addSequence(SequenceEntry(COM_SEQUENCE_RX_AND_TX_HIGH_RATE.first,
&COM_SEQUENCE_RX_AND_TX_HIGH_RATE.second,
COM_SEQUENCE_RX_ONLY.first)),
ctxc);
}