done
This commit is contained in:
492
mission/system/acs/acsModeTree.cpp
Normal file
492
mission/system/acs/acsModeTree.cpp
Normal file
@ -0,0 +1,492 @@
|
||||
#include "acsModeTree.h"
|
||||
|
||||
#include <fsfw/container/FixedMap.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/modes/HasModesIF.h>
|
||||
#include <fsfw/subsystem/Subsystem.h>
|
||||
#include <fsfw/subsystem/modes/ModeDefinitions.h>
|
||||
|
||||
#include <optional>
|
||||
|
||||
#include "eive/objects.h"
|
||||
#include "mission/acs/defs.h"
|
||||
#include "mission/powerDefs.h"
|
||||
#include "mission/system/tree/util.h"
|
||||
|
||||
AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
|
||||
|
||||
namespace {
|
||||
// Alias for checker function
|
||||
const auto check = subsystem::checkInsert;
|
||||
|
||||
void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
|
||||
void buildSafeSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildIdleSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh);
|
||||
void buildTargetPtSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
|
||||
} // namespace
|
||||
|
||||
static const auto OFF = HasModesIF::MODE_OFF;
|
||||
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
|
||||
|
||||
auto SUS_BOARD_NML_TRANS = std::make_pair(0x20, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsMode::OFF, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_OFF_TGT =
|
||||
std::make_pair((acs::AcsMode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_OFF_TRANS_0 =
|
||||
std::make_pair((acs::AcsMode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_OFF_TRANS_1 =
|
||||
std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
|
||||
|
||||
auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_SAFE_TGT =
|
||||
std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_SAFE_TRANS_0 =
|
||||
std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_SAFE_TRANS_1 =
|
||||
std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
|
||||
|
||||
auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_IDLE_TGT =
|
||||
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_IDLE_TRANS_0 =
|
||||
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_IDLE_TRANS_1 =
|
||||
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
|
||||
|
||||
auto ACS_TABLE_PTG_TRANS_0 =
|
||||
std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
|
||||
auto ACS_SEQUENCE_PTG_TARGET =
|
||||
std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_PTG_TARGET_TGT =
|
||||
std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_TRANS_1 =
|
||||
std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_PTG_TARGET_GS =
|
||||
std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_PTG_TARGET_GS_TGT =
|
||||
std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
|
||||
std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_PTG_TARGET_NADIR =
|
||||
std::make_pair(acs::AcsMode::PTG_NADIR, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_PTG_TARGET_NADIR_TGT =
|
||||
std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 =
|
||||
std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
|
||||
std::make_pair(acs::AcsMode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT =
|
||||
std::make_pair((acs::AcsMode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 =
|
||||
std::make_pair((acs::AcsMode::PTG_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
Subsystem& satsystem::acs::init() {
|
||||
ModeListEntry entry;
|
||||
const char* ctxc = "satsystem::acs::init: generic target";
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
|
||||
bool allowAllSubmodes = false) {
|
||||
entry.setObject(obj);
|
||||
entry.setMode(mode);
|
||||
entry.setSubmode(submode);
|
||||
if (allowAllSubmodes) {
|
||||
entry.allowAllSubmodes();
|
||||
}
|
||||
check(table.insert(entry), "satsystem::acs::init: generic target");
|
||||
};
|
||||
// Build TARGET PT transition 0
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
|
||||
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
check(ACS_SUBSYSTEM.addTable(
|
||||
TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
|
||||
ctxc);
|
||||
|
||||
// Build SUS board transition
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, SUS_BOARD_NML_TRANS.second, true);
|
||||
check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
|
||||
ctxc);
|
||||
|
||||
buildOffSequence(ACS_SUBSYSTEM, entry);
|
||||
buildSafeSequence(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::AcsMode::SAFE);
|
||||
return ACS_SUBSYSTEM;
|
||||
}
|
||||
|
||||
namespace {
|
||||
|
||||
void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildOffSequence";
|
||||
auto ctxc = context.c_str();
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
check(table.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);
|
||||
};
|
||||
|
||||
// OFF Target table is empty
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_OFF_TGT.first, &ACS_TABLE_OFF_TGT.second)), ctxc);
|
||||
|
||||
// Build OFF transition 0
|
||||
iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS_0.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_0.first, &ACS_TABLE_OFF_TRANS_0.second)), ctxc);
|
||||
|
||||
// Build OFF transition 1
|
||||
iht(objects::IMTQ_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc);
|
||||
|
||||
// Build OFF sequence
|
||||
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false);
|
||||
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS_0.first, 0, false);
|
||||
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS_1.first, 0, false);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
|
||||
false, true),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildSafeSequence";
|
||||
auto ctxc = context.c_str();
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
|
||||
ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
if (allowAllSubmodes) {
|
||||
eh.allowAllSubmodes();
|
||||
}
|
||||
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 SAFE target. Allow detumble submode.
|
||||
iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT,
|
||||
ACS_TABLE_SAFE_TGT.second, true);
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
|
||||
check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
|
||||
|
||||
// Build SAFE transition 0
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
|
||||
iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
|
||||
iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
|
||||
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
|
||||
ctxc);
|
||||
|
||||
// SUS board transition table is defined above
|
||||
|
||||
// Build SAFE transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT,
|
||||
ACS_TABLE_SAFE_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
|
||||
ctxc);
|
||||
|
||||
// Build SAFE sequence
|
||||
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false);
|
||||
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
|
||||
false, true),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildIdleSequence";
|
||||
auto ctxc = context.c_str();
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
|
||||
ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
if (allowAllSubmodes) {
|
||||
eh.allowAllSubmodes();
|
||||
}
|
||||
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 IDLE target
|
||||
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_IDLE, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
|
||||
ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
|
||||
|
||||
// Build IDLE transition 0
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
|
||||
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
|
||||
|
||||
// Build IDLE transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_IDLE, 0, ACS_TABLE_IDLE_TRANS_1.second);
|
||||
ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
|
||||
|
||||
// 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, true);
|
||||
ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
|
||||
true);
|
||||
}
|
||||
|
||||
void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildTargetPtSequence";
|
||||
auto ctxc = context.c_str();
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
|
||||
ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
if (allowAllSubmodes) {
|
||||
eh.allowAllSubmodes();
|
||||
}
|
||||
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, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
|
||||
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
|
||||
ctxc);
|
||||
|
||||
// Transition 0 already built
|
||||
// Build TARGET PT transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
|
||||
true),
|
||||
ctxc);
|
||||
|
||||
// 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, true);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
|
||||
ACS_SEQUENCE_IDLE.first, false, true),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildTargetPtNadirSequence";
|
||||
auto ctxc = context.c_str();
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
|
||||
ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
if (allowAllSubmodes) {
|
||||
eh.allowAllSubmodes();
|
||||
}
|
||||
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, acs::AcsMode::PTG_NADIR, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
|
||||
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
|
||||
&ACS_TABLE_PTG_TARGET_NADIR_TGT.second)),
|
||||
ctxc);
|
||||
|
||||
// Transition 0 already built
|
||||
// Build TARGET PT transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0,
|
||||
ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first,
|
||||
&ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)),
|
||||
ctxc);
|
||||
|
||||
// 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, SUS_BOARD_NML_TRANS.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
||||
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& 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, bool allowAllSubmodes = false) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
if (allowAllSubmodes) {
|
||||
eh.allowAllSubmodes();
|
||||
}
|
||||
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, acs::AcsMode::PTG_TARGET_GS, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
|
||||
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::STR_ASSY, 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);
|
||||
|
||||
// Transition 0 already built
|
||||
// Build TARGET PT transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0,
|
||||
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, SUS_BOARD_NML_TRANS.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_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& eh) {
|
||||
std::string context = "satsystem::acs::buildTargetPtInertialSequence";
|
||||
auto ctxc = context.c_str();
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
|
||||
ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
if (allowAllSubmodes) {
|
||||
eh.allowAllSubmodes();
|
||||
}
|
||||
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, acs::AcsMode::PTG_INERTIAL, 0,
|
||||
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
|
||||
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,
|
||||
&ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second)),
|
||||
ctxc);
|
||||
|
||||
// Transition 0 already built
|
||||
// Build TARGET PT transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
|
||||
ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
|
||||
&ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE sequence
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, SUS_BOARD_NML_TRANS.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, 0,
|
||||
true);
|
||||
check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_INERTIAL.first,
|
||||
&ACS_SEQUENCE_PTG_TARGET_INERTIAL.second,
|
||||
ACS_SEQUENCE_IDLE.first)),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
Reference in New Issue
Block a user