continued acs subsystem

bsp_q7s/core/acsModeTree.cpp

@@ -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_SEQUENCE_OFF_ID = acs::CtrlModes::OFF;
-static constexpr Mode_t ACS_TABLE_OFF_TGT_ID = 0x61000000;
+static constexpr Mode_t ACS_TABLE_OFF_TGT_ID = (acs::CtrlModes::OFF << 8) | 1;
-static constexpr Mode_t ACS_TABLE_OFF_TRANS_ID = 0x61000001;
+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;
+  }
 }

bsp_q7s/core/acsModeTree.h

@@ -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);
 }

generators/fsfwgen

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

mission/controller/controllerdefinitions/AcsControllerDefinitions.h

@@ -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_ */