Merge remote-tracking branch 'origin/develop' into heater_handling
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This commit is contained in:
commit
974434d326
28
CHANGELOG.md
28
CHANGELOG.md
|
|
@ -17,6 +17,34 @@ change warranting a new major release:
|
|||
|
||||
# [unreleased]
|
||||
|
||||
# [v1.24.0] 2023-02-03
|
||||
|
||||
- eive-tmtc v2.10.0
|
||||
- `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested
|
||||
as well. Other modes still need to be tested.
|
||||
|
||||
## Fixed
|
||||
|
||||
- `AcsController`: Parameter fix in `DetumbleParameter`.
|
||||
- Set GPS set entries to invalid on MODE_OFF command.
|
||||
- Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false
|
||||
properly
|
||||
- Fixed usage of uint instead of int for commanding MTQ. Also fixed the range in which the ACS Ctrl
|
||||
commands the MTQ to match the actual commanding range.
|
||||
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/363
|
||||
- Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a
|
||||
future fix, the calibration matrices of SUS0 and SUS6 will be swapped.
|
||||
|
||||
## Changed
|
||||
|
||||
- `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
|
||||
- ACS Subsystem Sequence Mode IDs updated.
|
||||
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
|
||||
TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130
|
||||
- Update and tweak ACS subsystem to represent the actual ACS design
|
||||
- Event handling in the ACS subsystem for events triggered by the ACS controller.
|
||||
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
|
||||
|
||||
# [v1.23.1] 2023-02-02
|
||||
|
||||
TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3
|
||||
|
|
|
|||
|
|
@ -10,8 +10,8 @@
|
|||
cmake_minimum_required(VERSION 3.13)
|
||||
|
||||
set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
|
||||
set(OBSW_VERSION_MINOR_IF_GIT_FAILS 23)
|
||||
set(OBSW_VERSION_REVISION_IF_GIT_FAILS 1)
|
||||
set(OBSW_VERSION_MINOR_IF_GIT_FAILS 24)
|
||||
set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
|
||||
|
||||
# set(CMAKE_VERBOSE TRUE)
|
||||
|
||||
|
|
|
|||
|
|
@ -9,7 +9,7 @@
|
|||
|
||||
namespace addresses {
|
||||
/* Logical addresses have uint32_t datatype */
|
||||
enum logicalAddresses : address_t {
|
||||
enum LogicAddress : address_t {
|
||||
PCDU,
|
||||
|
||||
MGM_0_LIS3 = objects::MGM_0_LIS3_HANDLER,
|
||||
|
|
|
|||
|
|
@ -50,6 +50,7 @@ enum commonObjects : uint32_t {
|
|||
TMP1075_HANDLER_PLPCDU_0 = 0x44420006,
|
||||
TMP1075_HANDLER_PLPCDU_1 = 0x44420007,
|
||||
TMP1075_HANDLER_IF_BOARD = 0x44420008,
|
||||
|
||||
PCDU_HANDLER = 0x442000A1,
|
||||
P60DOCK_HANDLER = 0x44250000,
|
||||
PDU1_HANDLER = 0x44250001,
|
||||
|
|
|
|||
2
fsfw
2
fsfw
|
|
@ -1 +1 @@
|
|||
Subproject commit 3250bbf269b3326683222bb87ce7faecae63ad97
|
||||
Subproject commit 38789e053b65cfa14604fc625e7bcc8ca03a3f17
|
||||
|
|
@ -84,7 +84,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
|||
10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
|
||||
10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
|
||||
10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
|
||||
11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/controller/AcsController.h
|
||||
11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
|
||||
11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;mission/acsDefs.h
|
||||
11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
|
||||
11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
|
||||
11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
|
||||
|
|
|
|||
|
|
|
@ -1,7 +1,7 @@
|
|||
/**
|
||||
* @brief Auto-generated event translation file. Contains 244 translations.
|
||||
* @brief Auto-generated event translation file. Contains 245 translations.
|
||||
* @details
|
||||
* Generated on: 2023-02-01 19:42:11
|
||||
* Generated on: 2023-02-03 10:52:53
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
|
|
@ -91,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
|
|||
const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
|
||||
const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
|
||||
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
|
||||
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
|
||||
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
|
||||
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
|
||||
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
|
||||
|
|
@ -419,6 +420,8 @@ const char *translateEvents(Event event) {
|
|||
return SERIALIZATION_ERROR_STRING;
|
||||
case (11200):
|
||||
return SAFE_RATE_VIOLATION_STRING;
|
||||
case (11201):
|
||||
return SAFE_RATE_RECOVERY_STRING;
|
||||
case (11300):
|
||||
return SWITCH_CMD_SENT_STRING;
|
||||
case (11301):
|
||||
|
|
|
|||
|
|
@ -2,7 +2,7 @@
|
|||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 152 translations.
|
||||
* Generated on: 2023-02-01 19:42:11
|
||||
* Generated on: 2023-02-03 10:52:53
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -69,11 +69,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
|
|||
#if OBSW_ADD_SUN_SENSORS == 1
|
||||
SusFdir* fdir = nullptr;
|
||||
std::array<SusHandler*, 12> susHandlers = {};
|
||||
gpioId_t gpioId = gpioIds::CS_SUS_0;
|
||||
if (swap0And6) {
|
||||
gpioId = gpioIds::CS_SUS_6;
|
||||
}
|
||||
SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioId, SUS::MAX_CMD_SIZE,
|
||||
SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[0] =
|
||||
new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
|
|
@ -115,11 +111,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
|
|||
fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
|
||||
susHandlers[5]->setCustomFdir(fdir);
|
||||
|
||||
gpioId = gpioIds::CS_SUS_6;
|
||||
if (swap0And6) {
|
||||
gpioId = gpioIds::CS_SUS_0;
|
||||
}
|
||||
spiCookie = new SpiCookie(addresses::SUS_6, gpioId, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
|
||||
spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
|
||||
spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[6] =
|
||||
new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
|
|
|
|||
|
|
@ -48,6 +48,9 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
|
|||
return HasModesIF::INVALID_MODE;
|
||||
}
|
||||
}
|
||||
if (mode == MODE_OFF) {
|
||||
gpsSet.setValidity(false, true);
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
/**
|
||||
* @brief Auto-generated event translation file. Contains 244 translations.
|
||||
* @brief Auto-generated event translation file. Contains 245 translations.
|
||||
* @details
|
||||
* Generated on: 2023-02-01 19:42:11
|
||||
* Generated on: 2023-02-03 10:52:53
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
|
|
@ -91,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
|
|||
const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
|
||||
const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
|
||||
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
|
||||
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
|
||||
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
|
||||
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
|
||||
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
|
||||
|
|
@ -419,6 +420,8 @@ const char *translateEvents(Event event) {
|
|||
return SERIALIZATION_ERROR_STRING;
|
||||
case (11200):
|
||||
return SAFE_RATE_VIOLATION_STRING;
|
||||
case (11201):
|
||||
return SAFE_RATE_RECOVERY_STRING;
|
||||
case (11300):
|
||||
return SWITCH_CMD_SENT_STRING;
|
||||
case (11301):
|
||||
|
|
|
|||
|
|
@ -2,7 +2,7 @@
|
|||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 152 translations.
|
||||
* Generated on: 2023-02-01 19:42:11
|
||||
* Generated on: 2023-02-03 10:52:53
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
|
|
|
|||
28
mission/acsDefs.h
Normal file
28
mission/acsDefs.h
Normal file
|
|
@ -0,0 +1,28 @@
|
|||
#ifndef MISSION_ACSDEFS_H_
|
||||
#define MISSION_ACSDEFS_H_
|
||||
|
||||
#include <eive/eventSubsystemIds.h>
|
||||
#include <fsfw/modes/HasModesIF.h>
|
||||
|
||||
namespace acs {
|
||||
|
||||
enum CtrlSubmode {
|
||||
OFF = HasModesIF::MODE_OFF,
|
||||
SAFE = 2,
|
||||
DETUMBLE = 3,
|
||||
IDLE = 4,
|
||||
PTG_TARGET_NADIR = 5,
|
||||
PTG_TARGET = 6,
|
||||
PTG_TARGET_GS = 7,
|
||||
PTG_TARGET_INERTIAL = 8,
|
||||
};
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
|
||||
//!< The limits for the rotation in safe mode were violated.
|
||||
static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
|
||||
//!< The system has recovered from a safe rate rotation violation.
|
||||
static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
|
||||
|
||||
} // namespace acs
|
||||
|
||||
#endif /* MISSION_ACSDEFS_H_ */
|
||||
|
|
@ -2,6 +2,7 @@
|
|||
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
|
||||
#include "mission/acsDefs.h"
|
||||
#include "mission/config/torquer.h"
|
||||
|
||||
AcsController::AcsController(object_id_t objectId)
|
||||
|
|
@ -45,15 +46,15 @@ void AcsController::performControlOperation() {
|
|||
case InternalState::READY: {
|
||||
if (mode != MODE_OFF) {
|
||||
switch (submode) {
|
||||
case SUBMODE_SAFE:
|
||||
case acs::SAFE:
|
||||
performSafe();
|
||||
break;
|
||||
case SUBMODE_DETUMBLE:
|
||||
case acs::DETUMBLE:
|
||||
performDetumble();
|
||||
break;
|
||||
case SUBMODE_PTG_TARGET:
|
||||
case SUBMODE_PTG_NADIR:
|
||||
case SUBMODE_PTG_INERTIAL:
|
||||
case acs::PTG_TARGET:
|
||||
case acs::PTG_TARGET_NADIR:
|
||||
case acs::PTG_TARGET_INERTIAL:
|
||||
performPointingCtrl();
|
||||
break;
|
||||
}
|
||||
|
|
@ -151,9 +152,9 @@ void AcsController::performSafe() {
|
|||
detumbleCounter = 0;
|
||||
}
|
||||
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
|
||||
submode = SUBMODE_DETUMBLE;
|
||||
detumbleCounter = 0;
|
||||
triggerEvent(SAFE_RATE_VIOLATION);
|
||||
// Triggers detubmle mode transition in subsystem
|
||||
triggerEvent(acs::SAFE_RATE_VIOLATION);
|
||||
}
|
||||
|
||||
{
|
||||
|
|
@ -208,8 +209,9 @@ void AcsController::performDetumble() {
|
|||
detumbleCounter = 0;
|
||||
}
|
||||
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
|
||||
submode = SUBMODE_SAFE;
|
||||
detumbleCounter = 0;
|
||||
// Triggers safe mode transition in subsystem
|
||||
triggerEvent(acs::SAFE_RATE_RECOVERY);
|
||||
}
|
||||
|
||||
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
|
||||
|
|
@ -484,9 +486,9 @@ void AcsController::copyMgmData() {
|
|||
}
|
||||
|
||||
void AcsController::copySusData() {
|
||||
ACS::SensorValues sensorValues;
|
||||
{
|
||||
PoolReadGuard pg(&sensorValues.susSets[0]);
|
||||
|
||||
if (pg.getReadResult() == returnvalue::OK) {
|
||||
std::memcpy(susDataRaw.sus0.value, sensorValues.susSets[0].channels.value,
|
||||
6 * sizeof(uint16_t));
|
||||
|
|
|
|||
|
|
@ -24,16 +24,6 @@ class AcsController : public ExtendedControllerBase {
|
|||
|
||||
AcsController(object_id_t objectId);
|
||||
|
||||
static const Submode_t SUBMODE_SAFE = 2;
|
||||
static const Submode_t SUBMODE_DETUMBLE = 3;
|
||||
static const Submode_t SUBMODE_PTG_TARGET = 4;
|
||||
static const Submode_t SUBMODE_PTG_NADIR = 5;
|
||||
static const Submode_t SUBMODE_PTG_INERTIAL = 6;
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
|
||||
static const Event SAFE_RATE_VIOLATION =
|
||||
MAKE_EVENT(0, severity::MEDIUM); //!< The limits for the rotation in safe mode were violated.
|
||||
|
||||
protected:
|
||||
void performSafe();
|
||||
void performDetumble();
|
||||
|
|
@ -70,6 +60,7 @@ class AcsController : public ExtendedControllerBase {
|
|||
void announceMode(bool recursive);
|
||||
|
||||
/* ACS Datasets */
|
||||
ACS::SensorValues sensorValues;
|
||||
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
|
||||
// MGMs
|
||||
acsctrl::MgmDataRaw mgmDataRaw;
|
||||
|
|
|
|||
|
|
@ -899,8 +899,8 @@ class AcsParameters /*: public HasParametersIF*/ {
|
|||
|
||||
struct DetumbleParameter {
|
||||
uint8_t detumblecounter = 75; // 30 s
|
||||
double omegaDetumbleStart = 2 * M_PI / 180;
|
||||
double omegaDetumbleEnd = 0.4 * M_PI / 180;
|
||||
double omegaDetumbleStart = 2;
|
||||
double omegaDetumbleEnd = 0.4;
|
||||
double gainD = pow(10.0, -3.3);
|
||||
} detumbleParameter;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -54,21 +54,22 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1
|
|||
VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
|
||||
}
|
||||
|
||||
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits) {
|
||||
// Convert to Unit frame
|
||||
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
|
||||
// Convert to actuator frame
|
||||
MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
|
||||
dipolMoment, dipolMomentUnits, 3, 3, 1);
|
||||
// Scaling along largest element if dipol exceeds maximum
|
||||
dipolMoment, dipolMomentActuator, 3, 3, 1);
|
||||
// Scaling along largest element if dipol exceeds maximum
|
||||
double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
|
||||
double maxValue = 0;
|
||||
for (int i = 0; i < 3; i++) {
|
||||
if (abs(dipolMomentUnits[i]) > maxDipol) {
|
||||
maxValue = abs(dipolMomentUnits[i]);
|
||||
if (abs(dipolMomentActuator[i]) > maxDipol) {
|
||||
maxValue = abs(dipolMomentActuator[i]);
|
||||
}
|
||||
}
|
||||
|
||||
if (maxValue > maxDipol) {
|
||||
double scalingFactor = maxDipol / maxValue;
|
||||
VectorOperations<double>::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3);
|
||||
VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
|
||||
}
|
||||
// scale dipole from 1 Am^2 to 1e^-4 Am^2
|
||||
VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -35,9 +35,9 @@ class ActuatorCmd {
|
|||
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
|
||||
*
|
||||
* @param: dipolMoment given dipol moment in spacecraft frame
|
||||
* dipolMomentUnits resulting dipol moment for every unit
|
||||
* dipolMomentActuator resulting dipol moment in actuator reference frame
|
||||
*/
|
||||
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
|
||||
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);
|
||||
|
||||
protected:
|
||||
private:
|
||||
|
|
|
|||
|
|
@ -1,14 +0,0 @@
|
|||
#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, SAFE = 1, DETUMBLE = 2, IDLE = 3, TARGET_PT = 4 };
|
||||
|
||||
static constexpr Submode_t IDLE_CHARGE = 1;
|
||||
|
||||
} // namespace acs
|
||||
|
||||
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */
|
||||
|
|
@ -489,7 +489,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
|
|||
// Refresh torque command without changing any of the set dipoles.
|
||||
void refreshTorqueing(uint16_t durationMs_) { currentTorqueDurationMs = durationMs_; }
|
||||
|
||||
void setDipoles(uint16_t xDipole_, uint16_t yDipole_, uint16_t zDipole_,
|
||||
void setDipoles(int16_t xDipole_, int16_t yDipole_, int16_t zDipole_,
|
||||
uint16_t currentTorqueDurationMs_) {
|
||||
if (xDipole.value != xDipole_) {
|
||||
}
|
||||
|
|
@ -503,7 +503,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
|
|||
currentTorqueDurationMs = currentTorqueDurationMs_;
|
||||
}
|
||||
|
||||
void getDipoles(uint16_t& xDipole_, uint16_t& yDipole_, uint16_t& zDipole_) {
|
||||
void getDipoles(int16_t& xDipole_, int16_t& yDipole_, int16_t& zDipole_) {
|
||||
xDipole_ = xDipole.value;
|
||||
yDipole_ = yDipole.value;
|
||||
zDipole_ = zDipole.value;
|
||||
|
|
|
|||
|
|
@ -1,5 +1,83 @@
|
|||
#include "AcsSubsystem.h"
|
||||
|
||||
#include <fsfw/events/EventManagerIF.h>
|
||||
#include <fsfw/ipc/QueueFactory.h>
|
||||
|
||||
#include "fsfw/modes/ModeMessage.h"
|
||||
#include "mission/acsDefs.h"
|
||||
|
||||
AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
|
||||
uint32_t maxNumberOfTables)
|
||||
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
|
||||
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
|
||||
auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
|
||||
eventQueue =
|
||||
QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
|
||||
}
|
||||
|
||||
ReturnValue_t AcsSubsystem::initialize() {
|
||||
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
|
||||
if (manager == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
|
||||
#endif
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
ReturnValue_t result = manager->registerListener(eventQueue->getId());
|
||||
if (result != returnvalue::OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "AcsSubsystem::registerListener: Failed to register as "
|
||||
"listener"
|
||||
<< std::endl;
|
||||
#endif
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
;
|
||||
}
|
||||
result =
|
||||
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_VIOLATION));
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_VIOLATION failed" << std::endl;
|
||||
}
|
||||
result =
|
||||
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_RECOVERY));
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
|
||||
}
|
||||
return Subsystem::initialize();
|
||||
}
|
||||
|
||||
void AcsSubsystem::performChildOperation() {
|
||||
handleEventMessages();
|
||||
return Subsystem::performChildOperation();
|
||||
}
|
||||
|
||||
void AcsSubsystem::handleEventMessages() {
|
||||
EventMessage event;
|
||||
for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
|
||||
result = eventQueue->receiveMessage(&event)) {
|
||||
switch (event.getMessageId()) {
|
||||
case EventMessage::EVENT_MESSAGE:
|
||||
if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
|
||||
CommandMessage msg;
|
||||
ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0);
|
||||
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
|
||||
}
|
||||
}
|
||||
if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
|
||||
CommandMessage msg;
|
||||
ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::SAFE, 0);
|
||||
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl;
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe "
|
||||
"to this event message"
|
||||
<< std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -8,6 +8,12 @@ class AcsSubsystem : public Subsystem {
|
|||
AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
|
||||
|
||||
private:
|
||||
ReturnValue_t initialize() override;
|
||||
void performChildOperation() override;
|
||||
|
||||
void handleEventMessages();
|
||||
|
||||
MessageQueueIF* eventQueue = nullptr;
|
||||
};
|
||||
|
||||
#endif /* MISSION_SYSTEM_ACSSUBSYSTEM_H_ */
|
||||
|
|
|
|||
|
|
@ -7,10 +7,10 @@
|
|||
#include <fsfw/subsystem/modes/ModeDefinitions.h>
|
||||
|
||||
#include "eive/objects.h"
|
||||
#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
|
||||
#include "mission/acsDefs.h"
|
||||
#include "util.h"
|
||||
|
||||
Subsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
|
||||
AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
|
||||
|
||||
namespace {
|
||||
// Alias for checker function
|
||||
|
|
@ -20,74 +20,109 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
|
|||
void buildDetumbleSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildSafeSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildIdleSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildIdleChargeSequence(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 ACS_SEQUENCE_OFF =
|
||||
std::make_pair(acs::CtrlModes::OFF << 24, FixedArrayList<ModeListEntry, 2>());
|
||||
auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_OFF_TGT =
|
||||
std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_OFF_TRANS =
|
||||
std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());
|
||||
std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_OFF_TRANS_0 =
|
||||
std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_OFF_TRANS_1 =
|
||||
std::make_pair((acs::CtrlSubmode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
|
||||
|
||||
auto ACS_SEQUENCE_DETUMBLE =
|
||||
std::make_pair(acs::CtrlModes::DETUMBLE << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_DETUMBLE_TGT =
|
||||
std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_DETUMBLE_TRANS_0 =
|
||||
std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_DETUMBLE_TRANS_1 =
|
||||
std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_SAFE =
|
||||
std::make_pair(acs::CtrlModes::SAFE << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_SAFE_TGT =
|
||||
std::make_pair((acs::CtrlModes::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
std::make_pair((acs::CtrlSubmode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_SAFE_TRANS_0 =
|
||||
std::make_pair((acs::CtrlModes::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
std::make_pair((acs::CtrlSubmode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_SAFE_TRANS_1 =
|
||||
std::make_pair((acs::CtrlModes::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_IDLE =
|
||||
std::make_pair(acs::CtrlModes::IDLE << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_SEQUENCE_IDLE = std::make_pair(acs::CtrlSubmode::IDLE, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_IDLE_TGT =
|
||||
std::make_pair((acs::CtrlModes::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
|
||||
std::make_pair((acs::CtrlSubmode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_IDLE_TRANS_0 =
|
||||
std::make_pair((acs::CtrlModes::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
std::make_pair((acs::CtrlSubmode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_IDLE_TRANS_1 =
|
||||
std::make_pair((acs::CtrlModes::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
std::make_pair((acs::CtrlSubmode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
|
||||
|
||||
auto ACS_SEQUENCE_IDLE_CHRG = std::make_pair(acs::CtrlModes::IDLE << 24 | (acs::IDLE_CHARGE << 8),
|
||||
FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_IDLE_CHRG_TGT = std::make_pair(
|
||||
(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_IDLE_CHRG_TRANS_0 = std::make_pair(
|
||||
(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_IDLE_CHRG_TRANS_1 = std::make_pair(
|
||||
(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_PTG_TRANS_0 =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
|
||||
auto ACS_SEQUENCE_TARGET_PT =
|
||||
std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_TARGET_PT_TGT =
|
||||
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_TARGET_PT_TRANS_0 =
|
||||
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_TARGET_PT_TRANS_1 =
|
||||
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_SEQUENCE_PTG_TARGET =
|
||||
std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_PTG_TARGET_TGT =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_TRANS_1 =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_PTG_TARGET_GS =
|
||||
std::make_pair(acs::CtrlSubmode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_PTG_TARGET_GS_TGT =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_PTG_TARGET_NADIR =
|
||||
std::make_pair(acs::CtrlSubmode::PTG_TARGET_NADIR, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 1,
|
||||
FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair(
|
||||
(acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
|
||||
std::make_pair(acs::CtrlSubmode::PTG_TARGET_INERTIAL, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair(
|
||||
(acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair(
|
||||
(acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
void 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) {
|
||||
entry.setObject(obj);
|
||||
entry.setMode(mode);
|
||||
entry.setSubmode(submode);
|
||||
check(table.insert(entry), "satsystem::acs::init: generic target");
|
||||
};
|
||||
// Build TARGET PT transition 0
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::STAR_TRACKER, 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);
|
||||
|
||||
buildOffSequence(ACS_SUBSYSTEM, entry);
|
||||
buildSafeSequence(ACS_SUBSYSTEM, entry);
|
||||
buildDetumbleSequence(ACS_SUBSYSTEM, entry);
|
||||
buildIdleSequence(ACS_SUBSYSTEM, entry);
|
||||
buildIdleChargeSequence(ACS_SUBSYSTEM, entry);
|
||||
buildTargetPtSequence(ACS_SUBSYSTEM, entry);
|
||||
ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
|
||||
buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
|
||||
buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
|
||||
buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
|
||||
ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE);
|
||||
}
|
||||
|
||||
namespace {
|
||||
|
|
@ -112,20 +147,24 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
};
|
||||
|
||||
// OFF Target table is empty
|
||||
check(ss.addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_OFF_TGT.first, &ACS_TABLE_OFF_TGT.second)), ctxc);
|
||||
|
||||
// Build OFF transition
|
||||
iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
|
||||
iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
|
||||
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
|
||||
iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
|
||||
iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
|
||||
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
|
||||
check(ss.addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true), 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_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::RW_ASS, 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.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);
|
||||
|
|
@ -151,7 +190,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Build SAFE target
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TGT.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
|
||||
|
|
@ -167,7 +206,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
ctxc);
|
||||
|
||||
// Build SAFE transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
|
||||
ctxc);
|
||||
|
||||
|
|
@ -200,7 +239,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Build DETUMBLE target
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
|
||||
|
|
@ -218,7 +257,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
ctxc);
|
||||
|
||||
// Build DETUMBLE transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
|
||||
true),
|
||||
ctxc);
|
||||
|
|
@ -252,7 +291,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Build IDLE target
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
|
|
@ -264,75 +303,21 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
iht(objects::STAR_TRACKER, 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::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TRANS_1.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, 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, 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);
|
||||
}
|
||||
|
||||
void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildIdleChargeSequence";
|
||||
auto ctxc = context.c_str();
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
|
||||
ArrayList<ModeListEntry>& sequence) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
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::CtrlModes::IDLE, acs::IDLE_CHARGE,
|
||||
ACS_TABLE_IDLE_CHRG_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
|
||||
check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE transition 0
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false,
|
||||
true),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
|
||||
ACS_TABLE_IDLE_CHRG_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false,
|
||||
true),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE sequence
|
||||
ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, 0, false);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first,
|
||||
ACS_SEQUENCE_SAFE.first, false, true),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildTargetPtSequence";
|
||||
auto ctxc = context.c_str();
|
||||
|
|
@ -354,38 +339,180 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
};
|
||||
|
||||
// Build TARGET PT table
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
check(ss.addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true),
|
||||
ctxc);
|
||||
|
||||
// Build TARGET PT transition 0
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false,
|
||||
true),
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::STAR_TRACKER, 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::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false,
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
|
||||
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_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
|
||||
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) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
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, NML, acs::CtrlSubmode::PTG_TARGET,
|
||||
ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::STAR_TRACKER, 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, NML, acs::CtrlSubmode::PTG_TARGET_NADIR,
|
||||
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, 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) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
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, NML, acs::CtrlSubmode::PTG_TARGET_GS,
|
||||
ACS_TABLE_PTG_TARGET_GS_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);
|
||||
|
||||
// Transition 0 already built
|
||||
// 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_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) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
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, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
|
||||
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::STAR_TRACKER, 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, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
|
||||
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, 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
|
||||
|
|
|
|||
|
|
@ -1,11 +1,9 @@
|
|||
#include <fsfw/subsystem/modes/ModeDefinitions.h>
|
||||
|
||||
class Subsystem;
|
||||
#include <mission/system/objects/AcsSubsystem.h>
|
||||
|
||||
namespace satsystem {
|
||||
namespace acs {
|
||||
|
||||
extern Subsystem ACS_SUBSYSTEM;
|
||||
extern AcsSubsystem ACS_SUBSYSTEM;
|
||||
void init();
|
||||
|
||||
} // namespace acs
|
||||
|
|
|
|||
2
tmtc
2
tmtc
|
|
@ -1 +1 @@
|
|||
Subproject commit 28c367c6fb959b180fa5ead858e508178454891e
|
||||
Subproject commit 66867ad9d2fc9cb622e7d2baccba95689cc445c3
|
||||
Loading…
Reference in New Issue
Block a user