Merge remote-tracking branch 'origin/develop' into eggert/acs
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@ -30,70 +30,69 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
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static const auto OFF = HasModesIF::MODE_OFF;
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static const auto NML = DeviceHandlerIF::MODE_NORMAL;
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auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 3>());
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auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsMode::OFF, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_OFF_TGT =
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std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
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std::make_pair((acs::AcsMode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
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auto ACS_TABLE_OFF_TRANS_0 =
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std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
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std::make_pair((acs::AcsMode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
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auto ACS_TABLE_OFF_TRANS_1 =
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std::make_pair((acs::CtrlSubmode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
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std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
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auto ACS_SEQUENCE_DETUMBLE =
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std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
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std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_DETUMBLE_TGT =
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std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
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std::make_pair((acs::AcsMode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_DETUMBLE_TRANS_0 =
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std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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std::make_pair((acs::AcsMode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_DETUMBLE_TRANS_1 =
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std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList<ModeListEntry, 3>());
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auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_SAFE_TGT =
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std::make_pair((acs::CtrlSubmode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
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std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_SAFE_TRANS_0 =
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std::make_pair((acs::CtrlSubmode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_SAFE_TRANS_1 =
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std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_IDLE =
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std::make_pair(acs::CtrlSubmode::PTG_IDLE, FixedArrayList<ModeListEntry, 3>());
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auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::IDLE, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_IDLE_TGT =
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std::make_pair((acs::CtrlSubmode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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std::make_pair((acs::AcsMode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_IDLE_TRANS_0 =
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std::make_pair((acs::CtrlSubmode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
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std::make_pair((acs::AcsMode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_IDLE_TRANS_1 =
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std::make_pair((acs::CtrlSubmode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
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std::make_pair((acs::AcsMode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
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auto ACS_TABLE_PTG_TRANS_0 =
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std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_SEQUENCE_PTG_TARGET =
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std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
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std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_PTG_TARGET_TGT =
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std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_PTG_TARGET_TRANS_1 =
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std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_PTG_TARGET_GS =
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std::make_pair(acs::CtrlSubmode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
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std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_PTG_TARGET_GS_TGT =
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std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
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std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_PTG_TARGET_NADIR =
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std::make_pair(acs::CtrlSubmode::PTG_NADIR, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_PTG_TARGET_NADIR_TGT =
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std::make_pair((acs::CtrlSubmode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 =
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std::make_pair((acs::CtrlSubmode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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std::make_pair(acs::AcsMode::PTG_NADIR, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::AcsMode::PTG_TARGET_NADIR << 24) | 1,
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FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair(
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(acs::AcsMode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
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std::make_pair(acs::CtrlSubmode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT =
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std::make_pair((acs::CtrlSubmode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 =
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std::make_pair((acs::CtrlSubmode::PTG_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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std::make_pair(acs::AcsMode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair(
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(acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair(
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(acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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void satsystem::acs::init() {
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ModeListEntry entry;
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@ -123,7 +122,7 @@ void satsystem::acs::init() {
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buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
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buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
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buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
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ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE);
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ACS_SUBSYSTEM.setInitialMode(::acs::AcsMode::SAFE);
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}
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namespace {
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@ -191,7 +190,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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check(sequence.insert(eh), ctxc);
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};
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// Build SAFE target
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TGT.second);
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
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@ -207,7 +206,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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ctxc);
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// Build SAFE transition 1
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
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check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
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ctxc);
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@ -240,7 +239,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
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check(sequence.insert(eh), ctxc);
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};
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// Build DETUMBLE target
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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@ -258,7 +257,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
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ctxc);
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// Build DETUMBLE transition 1
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
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check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
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true),
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ctxc);
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@ -292,7 +291,11 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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check(sequence.insert(eh), ctxc);
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};
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// Build IDLE target
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<<<<<<< HEAD
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
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=======
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::IDLE, ACS_TABLE_IDLE_TGT.second);
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>>>>>>> origin/develop
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
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@ -308,7 +311,11 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
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// Build IDLE transition 1
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<<<<<<< HEAD
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_IDLE, ACS_TABLE_IDLE_TRANS_1.second);
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=======
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::IDLE, ACS_TABLE_IDLE_TRANS_1.second);
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>>>>>>> origin/develop
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ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
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// Build IDLE sequence
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@ -340,7 +347,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
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};
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// Build TARGET PT table
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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@ -351,7 +358,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
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// Transition 0 already built
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// Build TARGET PT transition 1
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
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ACS_TABLE_PTG_TARGET_TRANS_1.second);
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check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
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true),
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@ -387,7 +394,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
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};
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// Build TARGET PT table
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
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ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
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@ -400,7 +407,11 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
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// Transition 0 already built
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// Build TARGET PT transition 1
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<<<<<<< HEAD
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_NADIR,
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=======
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_NADIR,
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>>>>>>> origin/develop
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ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
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check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first,
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&ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)),
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@ -437,7 +448,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
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};
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// Build TARGET PT table
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
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ACS_TABLE_PTG_TARGET_GS_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
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@ -450,7 +461,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
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// Transition 0 already built
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// Build TARGET PT transition 1
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
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ACS_TABLE_PTG_TARGET_GS_TRANS_1.second);
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check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_GS_TRANS_1.first,
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&ACS_TABLE_PTG_TARGET_GS_TRANS_1.second)),
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@ -486,7 +497,11 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
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};
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// Build TARGET PT table
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<<<<<<< HEAD
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_INERTIAL,
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=======
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_INERTIAL,
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>>>>>>> origin/develop
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ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
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@ -499,7 +514,11 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
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// Transition 0 already built
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// Build TARGET PT transition 1
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<<<<<<< HEAD
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iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_INERTIAL,
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=======
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_INERTIAL,
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>>>>>>> origin/develop
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ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
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check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
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&ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),
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