From 76d18a67bcb1c58e68e6b08dd3cc288a9d8d5a98 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 11:33:18 +0100 Subject: [PATCH] almost done --- mission/system/tree/acsModeTree.cpp | 59 +++++++++++++++++++++++++++-- 1 file changed, 55 insertions(+), 4 deletions(-) diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index 6c27b160..94c4a5c9 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -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& sequence) { + eh.setObject(obj); + eh.setMode(mode); + eh.setSubmode(submode); + check(sequence.insert(eh), ctxc); + }; + // Insert Helper Sequence + auto ihs = [&](ArrayList& 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) {}