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Merge remote-tracking branch 'origin/develop' into heater_handling
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This commit is contained in:
Irini Kosmidou
2023-02-06 15:47:22 +01:00
parent 519d55af4b 970e018c27
commit 974434d326
25 changed files with 457 additions and 209 deletions
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397
mission/system/tree/acsModeTree.cpp
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@ -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

6
mission/system/tree/acsModeTree.h
View File

@ -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