Merge branch 'main' into possible_bugfix_dual_lane_assy

CHANGELOG.md

@@ -22,8 +22,16 @@ will consitute of a breaking change warranting a new major release:
 
 ## Changed
 
+- Adapt EM configuration to include all GomSpace PCDU devices except the ACU. For the ACU
+  (which broke), a dummy will still be used.
 - Event Manager queue depth is configurable now.
 - Do not construct and schedule broken TMP1075 device anymore.
+- Do not track payload modes in system mode tables.
+- ACS modes derived from system modes.
+
+## Added
+
+- Add the remaining system modes.
 
 ## Fixed
 

CMakeLists.txt

@@ -146,8 +146,11 @@ set(OBSW_ADD_TMP_DEVICES
     ${INIT_VAL}
     CACHE STRING "Add TMP devices")
 set(OBSW_ADD_GOMSPACE_PCDU
-    ${INIT_VAL}
+    1
     CACHE STRING "Add GomSpace PCDU modules")
+set(OBSW_ADD_GOMSPACE_ACU
+    ${INIT_VAL}
+    CACHE STRING "Add GomSpace ACU submodule")
 set(OBSW_ADD_RW
     ${INIT_VAL}
     CACHE STRING "Add RW modules")

bsp_q7s/OBSWConfig.h.in

@@ -22,6 +22,9 @@
 #define OBSW_COMMAND_SAFE_MODE_AT_STARTUP           1
 
 #define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
+// This define is necessary because the EM setup has the P60 dock module, but no ACU on the P60
+// module because it broke.
+#define OBSW_ADD_GOMSPACE_ACU                       @OBSW_ADD_GOMSPACE_ACU@
 #define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
 #define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
 #define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@

bsp_q7s/core/ObjectFactory.cpp

@@ -189,7 +189,6 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
   *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
   *uartComIF = new SerialComIF(objects::UART_COM_IF);
   *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
-  //*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
 }
 
 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
@@ -197,7 +196,6 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
   CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
   CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
-  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
 
   auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
   P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
@@ -211,9 +209,12 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   Pdu2Handler* pdu2handler = new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
                                              pdu2CspCookie, pdu2Fdir, enableHkSets);
 
+#if OBSW_ADD_GOMSPACE_ACU == 1
+  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
   auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
   ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie,
                                           acuFdir, enableHkSets);
+#endif
   auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
 
   /**
@@ -223,7 +224,9 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   p60dockhandler->setModeNormal();
   pdu1handler->setModeNormal();
   pdu2handler->setModeNormal();
+#if OBSW_ADD_GOMSPACE_ACU == 1
   acuhandler->setModeNormal();
+#endif
   if (pwrSwitcher != nullptr) {
     *pwrSwitcher = pcduHandler;
   }

bsp_q7s/em/emObjectFactory.cpp

@@ -57,6 +57,8 @@ void ObjectFactory::produce(void* args) {
 #endif
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   dummyCfg.addPowerDummies = false;
+  // The ACU broke.
+  dummyCfg.addOnlyAcuDummy = true;
 #endif
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   dummyCfg.addBpxBattDummy = false;
@@ -93,7 +95,7 @@ void ObjectFactory::produce(void* args) {
   // createRadSensorComponent(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
+  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true);
 #else
   // Still add all GPIOs for EM.
   GpioCookie* acsBoardGpios = new GpioCookie();

dummies/helperFactory.cpp

@@ -77,8 +77,9 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
   auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   imtqDummy->enableThermalModule(ThermalStateCfg());
   imtqDummy->connectModeTreeParent(*imtqAssy);
-  if (cfg.addPowerDummies) {
+  if (cfg.addOnlyAcuDummy) {
     new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  } else if (cfg.addPowerDummies) {
     new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);

dummies/helperFactory.h

@@ -6,8 +6,11 @@ class GpioIF;
 
 namespace dummy {
 
+// Default values targeted towards EM.
 struct DummyCfg {
   bool addCoreCtrlCfg = true;
+  // Special variant because the ACU broke. Overrides addPowerDummies, only ACU dummy will be added.
+  bool addOnlyAcuDummy = false;
   bool addPowerDummies = true;
   bool addBpxBattDummy = true;
   bool addSyrlinksDummies = true;

mission/acs/defs.h

@@ -3,6 +3,7 @@
 
 #include <eive/eventSubsystemIds.h>
 #include <fsfw/modes/HasModesIF.h>
+#include <mission/sysDefs.h>
 
 namespace acs {
 
@@ -11,12 +12,12 @@ enum class SimpleSensorMode { NORMAL = 0, OFF = 1 };
 // These modes are the modes of the ACS controller and of the ACS subsystem.
 enum AcsMode : Mode_t {
   OFF = HasModesIF::MODE_OFF,
-  SAFE = 10,
-  PTG_IDLE = 11,
-  PTG_NADIR = 12,
-  PTG_TARGET = 13,
-  PTG_TARGET_GS = 14,
-  PTG_INERTIAL = 15,
+  SAFE = satsystem::Mode::SAFE,
+  PTG_IDLE = satsystem::Mode::PTG_IDLE,
+  PTG_NADIR = satsystem::Mode::PTG_NADIR,
+  PTG_TARGET = satsystem::Mode::PTG_TARGET,
+  PTG_TARGET_GS = satsystem::Mode::PTG_TARGET_GS,
+  PTG_INERTIAL = satsystem::Mode::PTG_INERTIAL,
 };
 
 enum SafeSubmode : Submode_t { DEFAULT = 0, DETUMBLE = 1 };

mission/sysDefs.h

@@ -1,16 +1,28 @@
 #ifndef MISSION_SYSDEFS_H_
 #define MISSION_SYSDEFS_H_
 
-#include <atomic>
+#include <fsfw/action/ActionMessage.h>
+#include <fsfw/action/HasActionsIF.h>
+#include <fsfw/modes/ModeMessage.h>
+#include <fsfw/serialize/SerializeIF.h>
 
-#include "acs/defs.h"
+#include <atomic>
+#include <cstring>
 
 extern std::atomic_uint16_t I2C_FATAL_ERRORS;
 
 namespace satsystem {
 
-enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE };
-
+enum Mode : Mode_t {
+  BOOT = 5,
+  // DO NOT CHANGE THE ORDER starting from here, breaks ACS mode checks.
+  SAFE = 10,
+  PTG_IDLE = 11,
+  PTG_NADIR = 12,
+  PTG_TARGET = 13,
+  PTG_TARGET_GS = 14,
+  PTG_INERTIAL = 15,
+};
 }
 
 namespace xsc {

mission/system/EiveSystem.cpp

@@ -39,18 +39,22 @@ void EiveSystem::announceMode(bool recursive) {
       modeStr = "POINTING IDLE";
       break;
     }
-    case (acs::AcsMode::PTG_INERTIAL): {
-      modeStr = "POINTING INERTIAL";
+    case (satsystem::Mode::PTG_NADIR): {
+      modeStr = "POINTING NADIR";
       break;
     }
-    case (acs::AcsMode::PTG_TARGET): {
+    case (satsystem::Mode::PTG_TARGET): {
       modeStr = "POINTING TARGET";
       break;
     }
-    case (acs::AcsMode::PTG_TARGET_GS): {
+    case (satsystem::Mode::PTG_TARGET_GS): {
       modeStr = "POINTING TARGET GS";
       break;
     }
+    case (satsystem::Mode::PTG_INERTIAL): {
+      modeStr = "POINTING INERTIAL";
+      break;
+    }
   }
   sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
   return Subsystem::announceMode(recursive);

mission/system/systemTree.cpp

@@ -22,6 +22,10 @@ const auto check = subsystem::checkInsert;
 void buildBootSequence(Subsystem& ss, ModeListEntry& eh);
 void buildSafeSequence(Subsystem& ss, ModeListEntry& eh);
 void buildIdleSequence(Subsystem& ss, ModeListEntry& eh);
+void buildPtgNadirSequence(Subsystem& ss, ModeListEntry& eh);
+void buildPtgTargetSequence(Subsystem& ss, ModeListEntry& eh);
+void buildPtgTargetGsSequence(Subsystem& ss, ModeListEntry& eh);
+void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh);
 }  // namespace
 
 static const auto OFF = HasModesIF::MODE_OFF;
@@ -40,6 +44,10 @@ void satsystem::init() {
   buildBootSequence(EIVE_SYSTEM, entry);
   buildSafeSequence(EIVE_SYSTEM, entry);
   buildIdleSequence(EIVE_SYSTEM, entry);
+  buildPtgNadirSequence(EIVE_SYSTEM, entry);
+  buildPtgTargetSequence(EIVE_SYSTEM, entry);
+  buildPtgTargetGsSequence(EIVE_SYSTEM, entry);
+  buildPtgInertialSequence(EIVE_SYSTEM, entry);
   EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0);
 }
 
@@ -68,88 +76,44 @@ auto EIVE_TABLE_IDLE_TRANS_0 =
 auto EIVE_TABLE_IDLE_TRANS_1 =
     std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
 
+auto EIVE_SEQUENCE_PTG_NADIR =
+    std::make_pair(satsystem::Mode::PTG_NADIR, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_NADIR_TGT =
+    std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_NADIR_TRANS_0 =
+    std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_NADIR_TRANS_1 =
+    std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
+auto EIVE_SEQUENCE_PTG_TARGET =
+    std::make_pair(satsystem::Mode::PTG_TARGET, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_TGT =
+    std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_TRANS_0 =
+    std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_TRANS_1 =
+    std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
+auto EIVE_SEQUENCE_PTG_TARGET_GS =
+    std::make_pair(satsystem::Mode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_GS_TGT =
+    std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_GS_TRANS_0 =
+    std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_GS_TRANS_1 =
+    std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
+auto EIVE_SEQUENCE_PTG_INERTIAL =
+    std::make_pair(satsystem::Mode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_INERTIAL_TGT =
+    std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_INERTIAL_TRANS_0 =
+    std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_INERTIAL_TRANS_1 =
+    std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
 namespace {
 
-void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildSafeSequence";
-  auto ctxc = context.c_str();
-  // Insert Helper Table
-  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
-                 bool allowAllSubmodes = false) {
-    eh.setObject(obj);
-    eh.setMode(mode);
-    eh.setSubmode(submode);
-    if (allowAllSubmodes) {
-      eh.allowAllSubmodes();
-    }
-    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);
-  };
-
-  // Do no track submode to allow transitions to DETUMBLE submode.
-  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true);
-  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TGT.second);
-  check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
-
-  // Build SAFE transition 0.
-  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
-  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,
-                                     EIVE_SEQUENCE_SAFE.first)),
-        ctxc);
-}
-
-void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildIdleSequence";
-  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);
-  };
-
-  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TGT.second);
-  check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
-
-  // Build IDLE transition 0
-  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
-  iht(objects::PL_SUBSYSTEM, OFF, 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)),
-        ctxc);
-
-  // Build IDLE sequence
-  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
-  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
-  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
-                                     EIVE_SEQUENCE_SAFE.first)),
-        ctxc);
-}
-
 void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
   std::string context = "satsystem::buildBootSequence";
   auto ctxc = context.c_str();
@@ -194,4 +158,240 @@ void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
                                      EIVE_SEQUENCE_SAFE.first)),
         ctxc);
 }
+
+void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildSafeSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
+                 bool allowAllSubmodes = false) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
+    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);
+  };
+
+  // Do no track submode to allow transitions to DETUMBLE submode.
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true);
+  check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
+
+  // Build SAFE transition 0.
+  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
+  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,
+                                     EIVE_SEQUENCE_SAFE.first)),
+        ctxc);
+}
+
+void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildIdleSequence";
+  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);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TGT.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
+
+  // Build IDLE transition 0
+  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)),
+        ctxc);
+
+  // Build IDLE sequence
+  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
+                                     EIVE_SEQUENCE_SAFE.first)),
+        ctxc);
+}
+
+void buildPtgNadirSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildPtgNadirSequence";
+  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);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_NADIR, 0, EIVE_TABLE_PTG_NADIR_TGT.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_PTG_NADIR_TGT.first, &EIVE_TABLE_PTG_NADIR_TGT.second)),
+        ctxc);
+
+  // Build PTG_NADIR transition 0
+  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(
+            TableEntry(EIVE_TABLE_PTG_NADIR_TRANS_0.first, &EIVE_TABLE_PTG_NADIR_TRANS_0.second)),
+        ctxc);
+
+  // Build PTG_NADIR sequence
+  ihs(EIVE_SEQUENCE_PTG_NADIR.second, EIVE_TABLE_PTG_NADIR_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_PTG_NADIR.second, EIVE_TABLE_PTG_NADIR_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_NADIR.first, &EIVE_SEQUENCE_PTG_NADIR.second,
+                                     EIVE_SEQUENCE_IDLE.first)),
+        ctxc);
+}
+
+void buildPtgTargetSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildPtgTargetSequence";
+  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);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET, 0, EIVE_TABLE_PTG_TARGET_TGT.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_PTG_TARGET_TGT.first, &EIVE_TABLE_PTG_TARGET_TGT.second)),
+        ctxc);
+
+  // Build PTG_TARGET transition 0
+  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(
+            TableEntry(EIVE_TABLE_PTG_TARGET_TRANS_0.first, &EIVE_TABLE_PTG_TARGET_TRANS_0.second)),
+        ctxc);
+
+  // Build PTG_TARGET sequence
+  ihs(EIVE_SEQUENCE_PTG_TARGET.second, EIVE_TABLE_PTG_TARGET_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_PTG_TARGET.second, EIVE_TABLE_PTG_TARGET_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_TARGET.first,
+                                     &EIVE_SEQUENCE_PTG_TARGET.second, EIVE_SEQUENCE_IDLE.first)),
+        ctxc);
+}
+
+void buildPtgTargetGsSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildPtgTargetGsSequence";
+  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);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET_GS, 0, EIVE_TABLE_PTG_TARGET_GS_TGT.second);
+  check(ss.addTable(
+            TableEntry(EIVE_TABLE_PTG_TARGET_GS_TGT.first, &EIVE_TABLE_PTG_TARGET_GS_TGT.second)),
+        ctxc);
+
+  // Build PTG_TARGET_GS transition 0
+  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);
+  check(ss.addTable(TableEntry(EIVE_TABLE_PTG_TARGET_GS_TRANS_0.first,
+                               &EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second)),
+        ctxc);
+
+  // Build PTG_TARGET_GS sequence
+  ihs(EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_TABLE_PTG_TARGET_GS_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.first, 0, false);
+  check(
+      ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_TARGET_GS.first,
+                                   &EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_SEQUENCE_IDLE.first)),
+      ctxc);
+}
+
+void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildPtgInertialSequence";
+  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);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_INERTIAL, 0, EIVE_TABLE_PTG_INERTIAL_TGT.second);
+  check(ss.addTable(
+            TableEntry(EIVE_TABLE_PTG_INERTIAL_TGT.first, &EIVE_TABLE_PTG_INERTIAL_TGT.second)),
+        ctxc);
+
+  // Build PTG_INERTIAL transition 0
+  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);
+  check(ss.addTable(TableEntry(EIVE_TABLE_PTG_INERTIAL_TRANS_0.first,
+                               &EIVE_TABLE_PTG_INERTIAL_TRANS_0.second)),
+        ctxc);
+
+  // Build PTG_INERTIAL sequence
+  ihs(EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_TABLE_PTG_INERTIAL_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_TABLE_PTG_INERTIAL_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_INERTIAL.first,
+                                     &EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_SEQUENCE_IDLE.first)),
+        ctxc);
+}
+
 }  // namespace