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Merge pull request 'ACS system updates' (#441) from update_fsfw_submode_mask into develop
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Reviewed-on: #441
This commit is contained in:
Robin Müller 2023-03-07 17:23:04 +01:00
commit 72174c76cd
8 changed files with 65 additions and 45 deletions
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3
CHANGELOG.md
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@ -19,9 +19,12 @@ will consitute of a breaking change warranting a new major release:
## Changed ## Changed
- Persistent TM stores will now create new files on each reboot. - Persistent TM stores will now create new files on each reboot.
- Fast ACS subsystem commanding: Command SUS board consecutively with other devices now
## Fixed ## Fixed
- Allow arbitrary submodes for dual lane boards to avoid FDIR reactions of subsystem components.
Bump FSFW to allow this.
- PUS 15 was not scheduled - PUS 15 was not scheduled
- Transmitter timeout set to 2 minutes instead of 15 minutes. This will prevent to discharge the battery - Transmitter timeout set to 2 minutes instead of 15 minutes. This will prevent to discharge the battery
in case the syrlinks starts transmitting due to detection of unintentional bitlock. This happened e.g. on ground in case the syrlinks starts transmitting due to detection of unintentional bitlock. This happened e.g. on ground

2
bsp_q7s/fs/SdCardManager.h
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@ -225,7 +225,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
bool markedUnusable = false; bool markedUnusable = false;
MutexIF* sdLock = nullptr; MutexIF* sdLock = nullptr;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING; static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t LOCK_TIMEOUT = 150; static constexpr uint32_t LOCK_TIMEOUT = 200;
static constexpr char LOCK_CTX[] = "SdCardManager"; static constexpr char LOCK_CTX[] = "SdCardManager";
SdCardManager(); SdCardManager();

2
fsfw

@ -1 +1 @@
Subproject commit e9d9f446053699a91d89250910cc0d59d05fbe6b Subproject commit 7f6ba5f40b47bc32802efdc4ed41b4bad4b8071b

1
mission/system/objects/DualLaneAssemblyBase.h
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@ -96,7 +96,6 @@ inline void DualLaneAssemblyBase::initModeTableEntry(
entry.setObject(id); entry.setObject(id);
entry.setMode(MODE_OFF); entry.setMode(MODE_OFF);
entry.setSubmode(SUBMODE_NONE); entry.setSubmode(SUBMODE_NONE);
entry.setInheritSubmode(false);
modeTable.insert(entry); modeTable.insert(entry);
} }

1
mission/system/objects/RwAssembly.cpp
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@ -8,7 +8,6 @@ RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::
entry.setObject(helper.rwIds[idx]); entry.setObject(helper.rwIds[idx]);
entry.setMode(MODE_OFF); entry.setMode(MODE_OFF);
entry.setSubmode(SUBMODE_NONE); entry.setSubmode(SUBMODE_NONE);
entry.setInheritSubmode(false);
modeTable.insert(entry); modeTable.insert(entry);
} }
} }

1
mission/system/objects/TcsBoardAssembly.cpp
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@ -12,7 +12,6 @@ TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitc
entry.setObject(helper.rtdInfos[idx].first); entry.setObject(helper.rtdInfos[idx].first);
entry.setMode(MODE_OFF); entry.setMode(MODE_OFF);
entry.setSubmode(SUBMODE_NONE); entry.setSubmode(SUBMODE_NONE);
entry.setInheritSubmode(false);
modeTable.insert(entry); modeTable.insert(entry);
} }
} }

98
mission/system/tree/acsModeTree.cpp
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@ -6,8 +6,11 @@
#include <fsfw/subsystem/Subsystem.h> #include <fsfw/subsystem/Subsystem.h>
#include <fsfw/subsystem/modes/ModeDefinitions.h> #include <fsfw/subsystem/modes/ModeDefinitions.h>
#include <optional>
#include "eive/objects.h" #include "eive/objects.h"
#include "mission/acsDefs.h" #include "mission/acsDefs.h"
#include "mission/system/objects/definitions.h"
#include "util.h" #include "util.h"
AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24); AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
@ -100,16 +103,20 @@ Subsystem& satsystem::acs::init() {
ModeListEntry entry; ModeListEntry entry;
const char* ctxc = "satsystem::acs::init: generic target"; const char* ctxc = "satsystem::acs::init: generic target";
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) { auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
bool allowAllSubmodes = false) {
entry.setObject(obj); entry.setObject(obj);
entry.setMode(mode); entry.setMode(mode);
entry.setSubmode(submode); entry.setSubmode(submode);
if (allowAllSubmodes) {
entry.allowAllSubmodes();
}
check(table.insert(entry), "satsystem::acs::init: generic target"); check(table.insert(entry), "satsystem::acs::init: generic target");
}; };
// Build TARGET PT transition 0 // Build TARGET PT transition 0
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
check(ACS_SUBSYSTEM.addTable( check(ACS_SUBSYSTEM.addTable(
@ -117,7 +124,7 @@ Subsystem& satsystem::acs::init() {
ctxc); ctxc);
// Build SUS board transition // Build SUS board transition
iht(objects::SUS_BOARD_ASS, NML, 0, SUS_BOARD_NML_TRANS.second); iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, SUS_BOARD_NML_TRANS.second, true);
check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)), check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
ctxc); ctxc);
@ -182,10 +189,13 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str(); auto ctxc = context.c_str();
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) { ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj); eh.setObject(obj);
eh.setMode(mode); eh.setMode(mode);
eh.setSubmode(submode); eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc); check(sequence.insert(eh), ctxc);
}; };
// Insert Helper Sequence // Insert Helper Sequence
@ -199,13 +209,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
// Build SAFE target // Build SAFE target
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second); iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc); check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
// Build SAFE transition 0 // Build SAFE transition 0
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true), check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
@ -220,7 +231,6 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
// Build SAFE sequence // Build SAFE sequence
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true); ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false);
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false); 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); 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, check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
@ -233,10 +243,13 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str(); auto ctxc = context.c_str();
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) { ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj); eh.setObject(obj);
eh.setMode(mode); eh.setMode(mode);
eh.setSubmode(submode); eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc); check(sequence.insert(eh), ctxc);
}; };
// Insert Helper Sequence // Insert Helper Sequence
@ -250,17 +263,15 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
// Build DETUMBLE target // Build DETUMBLE target
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true);
check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true), check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
ctxc); ctxc);
// SUS board transition table is defined above
// Build DETUMBLE transition 0 // Build DETUMBLE transition 0
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false, check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
@ -275,7 +286,6 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
// Build DETUMBLE sequence // Build DETUMBLE sequence
ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true);
ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false);
ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false); 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); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false);
check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first, check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
@ -288,10 +298,13 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str(); auto ctxc = context.c_str();
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) { ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj); eh.setObject(obj);
eh.setMode(mode); eh.setMode(mode);
eh.setSubmode(submode); eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc); check(sequence.insert(eh), ctxc);
}; };
// Insert Helper Sequence // Insert Helper Sequence
@ -306,16 +319,14 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second); iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true); ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
// SUS board transition table is built above
// Build IDLE transition 0 // Build IDLE transition 0
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true); ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
@ -326,7 +337,6 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE sequence // Build IDLE sequence
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.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_0.first, 0, true);
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true);
ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false, ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
@ -338,10 +348,13 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str(); auto ctxc = context.c_str();
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) { ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj); eh.setObject(obj);
eh.setMode(mode); eh.setMode(mode);
eh.setSubmode(submode); eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc); check(sequence.insert(eh), ctxc);
}; };
// Insert Helper Sequence // Insert Helper Sequence
@ -356,14 +369,13 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
// Build TARGET PT table // Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true), check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
ctxc); ctxc);
// SUS board transition table is built above
// Transition 0 already built // Transition 0 already built
// Build TARGET PT transition 1 // Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second); iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second);
@ -373,7 +385,6 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE sequence // Build IDLE sequence
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true);
check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first, check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
@ -386,10 +397,13 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str(); auto ctxc = context.c_str();
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) { ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj); eh.setObject(obj);
eh.setMode(mode); eh.setMode(mode);
eh.setSubmode(submode); eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc); check(sequence.insert(eh), ctxc);
}; };
// Insert Helper Sequence // Insert Helper Sequence
@ -405,8 +419,8 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
ACS_TABLE_PTG_TARGET_NADIR_TGT.second); ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first, check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
@ -437,10 +451,13 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str(); auto ctxc = context.c_str();
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) { ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj); eh.setObject(obj);
eh.setMode(mode); eh.setMode(mode);
eh.setSubmode(submode); eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc); check(sequence.insert(eh), ctxc);
}; };
// Insert Helper Sequence // Insert Helper Sequence
@ -456,8 +473,8 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS, iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
ACS_TABLE_PTG_TARGET_GS_TGT.second); ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
check(ss.addTable( check(ss.addTable(
@ -487,10 +504,13 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str(); auto ctxc = context.c_str();
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) { ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj); eh.setObject(obj);
eh.setMode(mode); eh.setMode(mode);
eh.setSubmode(submode); eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc); check(sequence.insert(eh), ctxc);
}; };
// Insert Helper Sequence // Insert Helper Sequence
@ -506,8 +526,8 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_INERTIAL, iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_INERTIAL,
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,

2
tmtc

@ -1 +1 @@
Subproject commit 9462a6e2459e11ac03c2bb9694772959ac228cd0 Subproject commit e74e751142e46c801852a110bef11510cc7c7bfa