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continued acs subsystem
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Robin Müller 2022-04-22 17:49:28 +02:00
parent a0db5dcc7c
commit 874e06baa1
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GPG Key ID: 11D4952C8CCEF814
4 changed files with 144 additions and 19 deletions
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135
bsp_q7s/core/acsModeTree.cpp
View File

@ -1,6 +1,8 @@
#include <commonObjects.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include "acsModeTree.h"
#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
#include <fsfw/subsystem/modes/ModeDefinitions.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/modes/HasModesIF.h>
@ -9,50 +11,69 @@ FixedArrayList<ModeListEntry, 2> ACS_SEQUENCE_OFF = FixedArrayList<ModeListEntry
FixedArrayList<ModeListEntry, 0> ACS_TABLE_OFF_TGT = FixedArrayList<ModeListEntry, 0>();
FixedArrayList<ModeListEntry, 6> ACS_TABLE_OFF_TRANS = FixedArrayList<ModeListEntry, 6>();
static constexpr Mode_t ACS_SEQUENCE_OFF_ID = HasModesIF::MODE_OFF;
static constexpr Mode_t ACS_TABLE_OFF_TGT_ID = 0x61000000;
static constexpr Mode_t ACS_TABLE_OFF_TRANS_ID = 0x61000001;
static constexpr Mode_t ACS_SEQUENCE_OFF_ID = acs::CtrlModes::OFF;
static constexpr Mode_t ACS_TABLE_OFF_TGT_ID = (acs::CtrlModes::OFF << 8) | 1;
static constexpr Mode_t ACS_TABLE_OFF_TRANS_ID = (acs::CtrlModes::OFF << 8) | 2;
FixedArrayList<ModeListEntry, 2> ACS_SEQUENCE_DETUMBLE = FixedArrayList<ModeListEntry, 2>();
FixedArrayList<ModeListEntry, 3> ACS_TABLE_DETUMBLE_TGT = FixedArrayList<ModeListEntry, 3>();
FixedArrayList<ModeListEntry, 5> ACS_TABLE_DETUMBLE_TRANS_0 = FixedArrayList<ModeListEntry, 5>();
FixedArrayList<ModeListEntry, 1> ACS_TABLE_DETUMBLE_TRANS_1 = FixedArrayList<ModeListEntry, 1>();
static constexpr Mode_t ACS_SEQUENCE_DETUMBLE_ID = acs::CtrlModes::DETUMBLE;
static constexpr Mode_t ACS_TABLE_DETUMBLE_TGT_ID = (acs::CtrlModes::DETUMBLE << 8) | 1;
static constexpr Mode_t ACS_TABLE_DETUMBLE_TRANS_0_ID = (acs::CtrlModes::DETUMBLE << 8) | 2;
static constexpr Mode_t ACS_TABLE_DETUMBLE_TRANS_1_ID = (acs::CtrlModes::DETUMBLE << 8) | 3;
// Alias for checker function
const auto CHK = satsystem::checkInsert;
static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
void satsystem::acsSubsystemInit() {
ModeListEntry entry;
Subsystem *acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, objects::EIVE_SYSTEM, 20, 20);
buildOffSequence(acsSubsystem, entry);
buildDetumbleSequence(acsSubsystem, entry);
acsSubsystem->setInitialMode(HasModesIF::MODE_OFF);
}
void satsystem::buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildOffSequence";
auto ctxc = context.c_str();
// Build OFF target
ss->addTable(&ACS_TABLE_OFF_TGT, ACS_TABLE_OFF_TGT_ID, false, true);
// Build OFF transition
eh.setObject(objects::ACS_CONTROLLER);
eh.setMode(HasModesIF::MODE_OFF);
eh.setMode(OFF);
eh.setSubmode(0);
ACS_TABLE_OFF_TRANS.insert(eh);
CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);
eh.setObject(objects::IMTQ_HANDLER);
eh.setMode(HasModesIF::MODE_OFF);
eh.setMode(OFF);
eh.setSubmode(0);
ACS_TABLE_OFF_TRANS.insert(eh);
CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);
eh.setObject(objects::STAR_TRACKER);
eh.setMode(HasModesIF::MODE_OFF);
eh.setMode(OFF);
eh.setSubmode(0);
ACS_TABLE_OFF_TRANS.insert(eh);
CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);
eh.setObject(objects::ACS_BOARD_ASS);
eh.setMode(HasModesIF::MODE_OFF);
eh.setMode(OFF);
eh.setSubmode(0);
ACS_TABLE_OFF_TRANS.insert(eh);
CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);
eh.setObject(objects::SUS_BOARD_ASS);
eh.setMode(HasModesIF::MODE_OFF);
eh.setMode(OFF);
eh.setSubmode(0);
ACS_TABLE_OFF_TRANS.insert(eh);
CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);
eh.setObject(objects::RW_ASS);
eh.setMode(HasModesIF::MODE_OFF);
eh.setMode(OFF);
eh.setSubmode(0);
ACS_TABLE_OFF_TRANS.insert(eh);
CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);
ss->addTable(&ACS_TABLE_OFF_TRANS, ACS_TABLE_OFF_TRANS_ID, false, true);
@ -60,13 +81,91 @@ void satsystem::buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
eh.setTableId(ACS_TABLE_OFF_TGT_ID);
eh.setWaitSeconds(0);
eh.setCheckSuccess(false);
ACS_SEQUENCE_OFF.insert(eh);
CHK(ACS_SEQUENCE_OFF.insert(eh), ctxc);
eh.setTableId(ACS_TABLE_OFF_TRANS_ID);
eh.setWaitSeconds(0);
eh.setCheckSuccess(false);
ACS_SEQUENCE_OFF.insert(eh);
CHK(ACS_SEQUENCE_OFF.insert(eh), ctxc);
ss->addSequence(&ACS_SEQUENCE_OFF, ACS_SEQUENCE_OFF_ID, ACS_SEQUENCE_OFF_ID, false, true);
ss->setInitialMode(HasModesIF::MODE_OFF);
}
void satsystem::buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildDetumbleSequence";
auto ctxc = context.c_str();
// Build DETUMBLE target
eh.setObject(objects::ACS_CONTROLLER);
eh.setMode(acs::CtrlModes::DETUMBLE);
eh.setSubmode(0);
CHK(ACS_TABLE_DETUMBLE_TGT.insert(eh), ctxc);
eh.setObject(objects::IMTQ_HANDLER);
eh.setMode(NML);
eh.setSubmode(0);
CHK(ACS_TABLE_DETUMBLE_TGT.insert(eh), ctxc);
eh.setObject(objects::SUS_BOARD_ASS);
eh.setMode(NML);
eh.setSubmode(0);
CHK(ACS_TABLE_DETUMBLE_TGT.insert(eh), ctxc);
eh.setObject(objects::ACS_BOARD_ASS);
eh.setMode(NML);
eh.setSubmode(0);
CHK(ACS_TABLE_DETUMBLE_TGT.insert(eh), ctxc);
ss->addTable(&ACS_TABLE_DETUMBLE_TGT, ACS_TABLE_DETUMBLE_TGT_ID, false, true);
// Build DETUMBLE transition 0
eh.setObject(objects::IMTQ_HANDLER);
eh.setMode(NML);
eh.setSubmode(0);
CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);
eh.setObject(objects::STAR_TRACKER);
eh.setMode(OFF);
eh.setSubmode(0);
CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);
eh.setObject(objects::ACS_BOARD_ASS);
eh.setMode(NML);
eh.setSubmode(0);
CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);
eh.setObject(objects::SUS_BOARD_ASS);
eh.setMode(NML);
eh.setSubmode(0);
CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);
eh.setObject(objects::RW_ASS);
eh.setMode(OFF);
eh.setSubmode(0);
CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);
ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0, ACS_TABLE_DETUMBLE_TRANS_0_ID, false, true);
// Build DETUMBLE transition 1
eh.setObject(objects::ACS_CONTROLLER);
eh.setMode(acs::CtrlModes::DETUMBLE);
eh.setSubmode(0);
CHK(ACS_TABLE_DETUMBLE_TRANS_1.insert(eh), ctxc);
ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1, ACS_TABLE_DETUMBLE_TRANS_1_ID, false, true);
ss->addSequence(&ACS_SEQUENCE_DETUMBLE, ACS_SEQUENCE_DETUMBLE_ID, 0 /*Ü TODO*/, false, true);
}
void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {}
void satsystem::buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {}
void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {}
void satsystem::checkInsert(ReturnValue_t result, const char* ctx) {
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Insertion failed at " << ctx << std::endl;
}
}

5
bsp_q7s/core/acsModeTree.h
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@ -6,5 +6,10 @@ namespace satsystem {
void acsSubsystemInit();
void buildOffSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildDetumbleSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildSafeSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildIdleSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper);
void checkInsert(ReturnValue_t result, const char* ctx);
}

2
generators/fsfwgen

@ -1 +1 @@
Subproject commit 19e8ee90be12f72ceb8c2aefdfd665b5babad417
Subproject commit 9d7963f3292c669814810adf50d6820b2e5c29b7

21
mission/controller/controllerdefinitions/AcsControllerDefinitions.h Normal file
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@ -0,0 +1,21 @@
#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
#include <fsfw/modes/HasModesIF.h>
namespace acs {
enum CtrlModes {
OFF = HasModesIF::MODE_OFF,
IDLE = 1,
DETUMBLE = 2,
SAFE = 3,
IDLE = 4,
TARGET_PT = 5
};
}
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */