boot sequence

mission/sysDefs.h

@@ -0,0 +1,11 @@
+#ifndef MISSION_SYSDEFS_H_
+#define MISSION_SYSDEFS_H_
+
+#include "acsDefs.h"
+namespace satsystem {
+
+enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE };
+
+}
+
+#endif /* MISSION_SYSDEFS_H_ */

mission/system/tree/system.cpp

@@ -3,6 +3,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/subsystem/Subsystem.h>
 #include <mission/acsDefs.h>
+#include <mission/sysDefs.h>
 
 #include "acsModeTree.h"
 #include "comModeTree.h"
@@ -16,6 +17,7 @@ namespace {
 // Alias for checker function
 const auto check = subsystem::checkInsert;
 
+void buildBootSequence(Subsystem& ss, ModeListEntry& eh);
 void buildSafeSequence(Subsystem& ss, ModeListEntry& eh);
 void buildIdleSequence(Subsystem& ss, ModeListEntry& eh);
 }  // namespace
@@ -33,29 +35,36 @@ void satsystem::init() {
   auto& comSubsystem = com::init();
   comSubsystem.connectModeTreeParent(EIVE_SYSTEM);
   ModeListEntry entry;
+  buildBootSequence(EIVE_SYSTEM, entry);
   buildSafeSequence(EIVE_SYSTEM, entry);
   buildIdleSequence(EIVE_SYSTEM, entry);
-  EIVE_SYSTEM.setInitialMode(HasModesIF::MODE_OFF, 0);
+  EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0);
 }
 
 EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24);
 
-auto EIVE_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_SEQUENCE_BOOT = std::make_pair(satsystem::Mode::BOOT, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_BOOT_TGT =
+    std::make_pair((satsystem::Mode::BOOT << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_BOOT_TRANS_0 =
+    std::make_pair((satsystem::Mode::BOOT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+
+auto EIVE_SEQUENCE_SAFE = std::make_pair(satsystem::Mode::SAFE, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_SAFE_TGT =
-    std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_SAFE_TRANS_0 =
-    std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_SAFE_TRANS_1 =
-    std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
 
 auto EIVE_SEQUENCE_IDLE =
-    std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair(satsystem::Mode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_IDLE_TGT =
-    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_IDLE_TRANS_0 =
-    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_IDLE_TRANS_1 =
-    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
 
 namespace {
 
@@ -140,4 +149,47 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 }
 
+void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildBootSequence";
+  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);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TGT.second, true);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
+  iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TGT.first, &EIVE_TABLE_BOOT_TGT.second)), ctxc);
+
+  // Build SAFE transition 0.
+  iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second, true);
+  check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TRANS_0.first, &EIVE_TABLE_BOOT_TRANS_0.second)),
+        ctxc);
+
+  // Build Safe sequence
+  ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_BOOT.first, &EIVE_SEQUENCE_BOOT.second,
+                                     EIVE_SEQUENCE_SAFE.first)),
+        ctxc);
 }  // namespace