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This commit is contained in:
Robin Müller 2023-02-03 11:33:18 +01:00
parent 2c2c73b23f
commit 76d18a67bc
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GPG Key ID: 11D4952C8CCEF814
1 changed files with 55 additions and 4 deletions
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59
mission/system/tree/acsModeTree.cpp
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@ -121,6 +121,9 @@ void satsystem::acs::init() {
buildDetumbleSequence(ACS_SUBSYSTEM, entry);
buildIdleSequence(ACS_SUBSYSTEM, entry);
buildTargetPtSequence(ACS_SUBSYSTEM, entry);
buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE);
}
@ -312,7 +315,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE sequence
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.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, false);
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,
true);
}
@ -359,7 +362,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
// 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_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, false);
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,
ACS_SEQUENCE_IDLE.first, false, true),
ctxc);
@ -409,14 +412,62 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE sequence
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TGT.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, false);
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, true);
check(
ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_NADIR.first,
&ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_SEQUENCE_IDLE.first)),
ctxc);
}
void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& entryHelper) {}
void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::acs::buildTargetPtGsSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(sequence.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 TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::IMTQ_HANDLER, 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::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::RW_ASS, 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(
TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)),
ctxc);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)), ctxc);
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
ACS_TABLE_PTG_TARGET_GS_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_GS_TRANS_1.first,
&ACS_TABLE_PTG_TARGET_GS_TRANS_1.second)),
ctxc);
// Build IDLE sequence
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TGT.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, 0, true);
check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_GS.first,
&ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_SEQUENCE_IDLE.first)),
ctxc);
}
void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper) {}