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added all checks, made checker func generic
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This commit is contained in:
Robin Müller
2022-04-28 16:20:41 +02:00
parent c1fe7563d2
commit 9c0a89bbdc
5 changed files with 149 additions and 117 deletions
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118
mission/system/tree/payloadModeTree.cpp
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@@ -9,9 +9,9 @@
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
#include "mission/system/objects/PayloadSubsystem.h"
#include "mission/system/objects/definitions.h"
#include "util.h"
namespace {
void checkInsert(ReturnValue_t result, const char* ctx);
void initOffSequence(Subsystem* ss, ModeListEntry& eh);
void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh);
void initPlCamStreamSequence(Subsystem* ss, ModeListEntry& eh);
@@ -20,7 +20,7 @@ void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh);
void initScexSequence(Subsystem* ss, ModeListEntry& eh);
} // namespace
const auto CHK = checkInsert;
const auto check = subsystem::checkInsert;
static const auto OFF = HasModesIF::MODE_OFF;
static const auto ON = HasModesIF::MODE_ON;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
@@ -95,7 +95,7 @@ void initOffSequence(Subsystem* ss, ModeListEntry& eh) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
CHK(sequence.insert(eh), ctxc);
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
@@ -103,11 +103,11 @@ void initOffSequence(Subsystem* ss, ModeListEntry& eh) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
CHK(sequence.insert(eh), ctxc);
check(sequence.insert(eh), ctxc);
};
// Build OFF target. Is empty
ss->addTable(&PL_TABLE_OFF_TGT.second, PL_TABLE_OFF_TGT.first, false, true);
check(ss->addTable(TableEntry(PL_TABLE_OFF_TGT.first, &PL_TABLE_OFF_TGT.second)), ctxc);
// Build OFF transition 0
iht(objects::PLOC_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS.second);
@@ -115,13 +115,14 @@ void initOffSequence(Subsystem* ss, ModeListEntry& eh) {
iht(objects::SCEX_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS.second);
iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS.second);
iht(objects::PLOC_SUBSYSTEM, OFF, 0, PL_TABLE_OFF_TRANS.second);
ss->addTable(&PL_TABLE_OFF_TRANS.second, PL_TABLE_OFF_TRANS.first, false, true);
check(ss->addTable(TableEntry(PL_TABLE_OFF_TRANS.first, &PL_TABLE_OFF_TRANS.second)), ctxc);
// Build OFF sequence
ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TGT.first, 0, false);
ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TRANS.first, 0, false);
ss->addSequence(&PL_SEQUENCE_OFF.second, PL_SEQUENCE_OFF.first, PL_SEQUENCE_OFF.first, false,
true);
check(ss->addSequence(
SequenceEntry(PL_SEQUENCE_OFF.first, &PL_SEQUENCE_OFF.second, PL_SEQUENCE_OFF.first)),
ctxc);
}
void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh) {
@@ -133,7 +134,7 @@ void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
CHK(sequence.insert(eh), ctxc);
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
@@ -141,7 +142,7 @@ void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
CHK(sequence.insert(eh), ctxc);
check(sequence.insert(eh), ctxc);
};
// Build MPSoC stream target
@@ -150,26 +151,31 @@ void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh) {
iht(objects::PLOC_SWITCHER, ON, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::MPSOC_ON, PL_TABLE_MPSOC_STREAM_TGT.second);
ss->addTable(&PL_TABLE_MPSOC_STREAM_TGT.second, PL_TABLE_MPSOC_STREAM_TGT.first, false, true);
check(
ss->addTable(TableEntry(PL_TABLE_MPSOC_STREAM_TGT.first, &PL_TABLE_MPSOC_STREAM_TGT.second)),
ctxc);
// Build MPSoC stream transition 0
iht(objects::PLOC_SWITCHER, ON, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
iht(objects::SCEX_HANDLER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
ss->addTable(&PL_TABLE_MPSOC_STREAM_TRANS_0.second, PL_TABLE_MPSOC_STREAM_TRANS_0.first, false,
true);
check(ss->addTable(
TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_0.first, &PL_TABLE_MPSOC_STREAM_TRANS_0.second)),
ctxc);
// Build MPSoC stream transition 1
iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::MPSOC_ON, PL_TABLE_MPSOC_STREAM_TRANS_1.second);
ss->addTable(&PL_TABLE_MPSOC_STREAM_TRANS_1.second, PL_TABLE_MPSOC_STREAM_TRANS_1.first, false,
true);
check(ss->addTable(
TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_1.first, &PL_TABLE_MPSOC_STREAM_TRANS_1.second)),
ctxc);
// Build MPSoC stream sequence
ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TGT.first, 0, true);
ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TRANS_0.first, 0, true);
ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TRANS_1.first, 0, false);
ss->addSequence(&PL_SEQUENCE_MPSOC_STREAM.second, PL_SEQUENCE_MPSOC_STREAM.first,
PL_SEQUENCE_OFF.first, false, true);
check(ss->addSequence(SequenceEntry(PL_SEQUENCE_MPSOC_STREAM.first,
&PL_SEQUENCE_MPSOC_STREAM.second, PL_SEQUENCE_OFF.first)),
ctxc);
}
void initPlCamStreamSequence(Subsystem* ss, ModeListEntry& eh) {
@@ -181,7 +187,7 @@ void initPlCamStreamSequence(Subsystem* ss, ModeListEntry& eh) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
CHK(sequence.insert(eh), ctxc);
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
@@ -189,34 +195,38 @@ void initPlCamStreamSequence(Subsystem* ss, ModeListEntry& eh) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
CHK(sequence.insert(eh), ctxc);
check(sequence.insert(eh), ctxc);
};
// Build CAM target
// Only check that the PL PCDU is on for now. It might later become necessary to switch on
// the PLOC, so we ignore its state.
iht(objects::PLPCDU_HANDLER, NML, plpcdu::ALL_ON_SUBMODE, PL_TABLE_CAM_STREAM_TGT.second);
ss->addTable(&PL_TABLE_CAM_STREAM_TGT.second, PL_TABLE_CAM_STREAM_TGT.first, false, true);
check(ss->addTable(TableEntry(PL_TABLE_CAM_STREAM_TGT.first, &PL_TABLE_CAM_STREAM_TGT.second)),
ctxc);
// Build CAM transition 0
// PLOC is actively commanded off here
iht(objects::PLOC_SUBSYSTEM, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
iht(objects::SCEX_HANDLER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
ss->addTable(&PL_TABLE_MPSOC_STREAM_TRANS_0.second, PL_TABLE_MPSOC_STREAM_TRANS_0.first, false,
true);
check(ss->addTable(
TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_0.first, &PL_TABLE_MPSOC_STREAM_TRANS_0.second)),
ctxc);
// Build CAM transition 1
iht(objects::PLOC_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_1.second);
ss->addTable(&PL_TABLE_MPSOC_STREAM_TRANS_1.second, PL_TABLE_MPSOC_STREAM_TRANS_1.first, false,
true);
check(ss->addTable(
TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_1.first, &PL_TABLE_MPSOC_STREAM_TRANS_1.second)),
ctxc);
// Build CAM stream sequence
ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TGT.first, 0, true);
ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TRANS_0.first, 0, true);
ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TRANS_1.first, 0, false);
ss->addSequence(&PL_SEQUENCE_CAM_STREAM.second, PL_SEQUENCE_CAM_STREAM.first,
PL_SEQUENCE_OFF.first, false, true);
check(ss->addSequence(SequenceEntry(PL_SEQUENCE_CAM_STREAM.first, &PL_SEQUENCE_CAM_STREAM.second,
PL_SEQUENCE_OFF.first)),
ctxc);
}
void initPlSpvSequence(Subsystem* ss, ModeListEntry& eh) {
@@ -228,7 +238,7 @@ void initPlSpvSequence(Subsystem* ss, ModeListEntry& eh) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
CHK(sequence.insert(eh), ctxc);
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
@@ -236,18 +246,21 @@ void initPlSpvSequence(Subsystem* ss, ModeListEntry& eh) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
CHK(sequence.insert(eh), ctxc);
check(sequence.insert(eh), ctxc);
};
// Build Payload Supervisor Only target
iht(objects::PLOC_SWITCHER, ON, 0, PL_TABLE_SUPV_ONLY_TGT.second);
iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::SUPV_ONLY, PL_TABLE_SUPV_ONLY_TGT.second);
ss->addTable(TableEntry(PL_TABLE_SUPV_ONLY_TGT.first, &PL_TABLE_SUPV_ONLY_TGT.second));
check(ss->addTable(TableEntry(PL_TABLE_SUPV_ONLY_TGT.first, &PL_TABLE_SUPV_ONLY_TGT.second)),
ctxc);
// Build Payload Supervisor Only transition 0
iht(objects::PLOC_SWITCHER, ON, 0, PL_TABLE_SUPV_ONLY_TRANS_0.second);
iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_SUPV_ONLY_TRANS_0.second);
ss->addTable(TableEntry(PL_TABLE_SUPV_ONLY_TRANS_0.first, &PL_TABLE_SUPV_ONLY_TRANS_0.second));
check(ss->addTable(
TableEntry(PL_TABLE_SUPV_ONLY_TRANS_0.first, &PL_TABLE_SUPV_ONLY_TRANS_0.second)),
ctxc);
// Build Payload Supervisor Only transition 1
iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::SUPV_ONLY, PL_TABLE_SUPV_ONLY_TRANS_1.second);
@@ -256,8 +269,9 @@ void initPlSpvSequence(Subsystem* ss, ModeListEntry& eh) {
ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TGT.first, 0, true);
ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TRANS_0.first, 0, true);
ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TRANS_1.first, 0, false);
ss->addSequence(SequenceEntry(PL_SEQUENCE_SUPV_ONLY.first, &PL_SEQUENCE_SUPV_ONLY.second,
PL_SEQUENCE_OFF.first));
check(ss->addSequence(SequenceEntry(PL_SEQUENCE_SUPV_ONLY.first, &PL_SEQUENCE_SUPV_ONLY.second,
PL_SEQUENCE_OFF.first)),
ctxc);
}
void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh) {
@@ -269,7 +283,7 @@ void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
CHK(sequence.insert(eh), ctxc);
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
@@ -277,7 +291,7 @@ void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
CHK(sequence.insert(eh), ctxc);
check(sequence.insert(eh), ctxc);
};
// Build Earth Observation target
@@ -285,23 +299,29 @@ void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh) {
iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_EARTH_OBSV_TGT.second);
iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_EARTH_OBSV_TGT.second);
iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::MPSOC_ON, PL_TABLE_EARTH_OBSV_TGT.second);
ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TGT.first, &PL_TABLE_EARTH_OBSV_TGT.second));
check(ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TGT.first, &PL_TABLE_EARTH_OBSV_TGT.second)),
ctxc);
// Build Earth Observation transition 0
iht(objects::PLOC_SWITCHER, ON, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second);
iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second);
iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second);
ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TRANS_0.first, &PL_TABLE_EARTH_OBSV_TRANS_0.second));
check(ss->addTable(
TableEntry(PL_TABLE_EARTH_OBSV_TRANS_0.first, &PL_TABLE_EARTH_OBSV_TRANS_0.second)),
ctxc);
// Build Earth Observation transition 1
iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::MPSOC_ON, PL_TABLE_EARTH_OBSV_TRANS_1.second);
ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TRANS_1.first, &PL_TABLE_EARTH_OBSV_TRANS_1.second));
check(ss->addTable(
TableEntry(PL_TABLE_EARTH_OBSV_TRANS_1.first, &PL_TABLE_EARTH_OBSV_TRANS_1.second)),
ctxc);
ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TGT.first, 0, true);
ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TRANS_0.first, 0, true);
ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TRANS_1.first, 0, false);
ss->addSequence(SequenceEntry(PL_SEQUENCE_EARTH_OBSV.first, &PL_SEQUENCE_EARTH_OBSV.second,
PL_SEQUENCE_OFF.first));
check(ss->addSequence(SequenceEntry(PL_SEQUENCE_EARTH_OBSV.first, &PL_SEQUENCE_EARTH_OBSV.second,
PL_SEQUENCE_OFF.first)),
ctxc);
}
void initScexSequence(Subsystem* ss, ModeListEntry& eh) {
@@ -313,7 +333,7 @@ void initScexSequence(Subsystem* ss, ModeListEntry& eh) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
CHK(sequence.insert(eh), ctxc);
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
@@ -321,28 +341,24 @@ void initScexSequence(Subsystem* ss, ModeListEntry& eh) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
CHK(sequence.insert(eh), ctxc);
check(sequence.insert(eh), ctxc);
};
// Build SCEX target
iht(objects::SCEX_HANDLER, NML, 0, PL_TABLE_SCEX_TGT.second);
ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TGT.first, &PL_TABLE_EARTH_OBSV_TGT.second));
check(ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TGT.first, &PL_TABLE_EARTH_OBSV_TGT.second)),
ctxc);
// Build SCEX transition 0
iht(objects::SCEX_HANDLER, NML, 0, PL_TABLE_SCEX_TGT.second);
ss->addTable(TableEntry(PL_TABLE_SCEX_TRANS_0.first, &PL_TABLE_SCEX_TRANS_0.second));
check(ss->addTable(TableEntry(PL_TABLE_SCEX_TRANS_0.first, &PL_TABLE_SCEX_TRANS_0.second)), ctxc);
// Build SCEX sequence
ihs(PL_SEQUENCE_SCEX.second, PL_TABLE_SCEX_TGT.first, 0, true);
ihs(PL_SEQUENCE_SCEX.second, PL_TABLE_SCEX_TRANS_0.first, 0, false);
ss->addSequence(
SequenceEntry(PL_SEQUENCE_SCEX.first, &PL_SEQUENCE_SCEX.second, PL_SEQUENCE_OFF.first));
}
void checkInsert(ReturnValue_t result, const char* ctx) {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "satsystem::checkInsert: PL | Insertion failed at " << ctx << std::endl;
}
check(ss->addSequence(
SequenceEntry(PL_SEQUENCE_SCEX.first, &PL_SEQUENCE_SCEX.second, PL_SEQUENCE_OFF.first)),
ctxc);
}
} // namespace