Merge branch 'develop' into eggert/mgm-calibration-fix
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28
mission/acsDefs.h
Normal file
28
mission/acsDefs.h
Normal file
@ -0,0 +1,28 @@
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#ifndef MISSION_ACSDEFS_H_
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#define MISSION_ACSDEFS_H_
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#include <eive/eventSubsystemIds.h>
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#include <fsfw/modes/HasModesIF.h>
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namespace acs {
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enum CtrlSubmode {
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OFF = HasModesIF::MODE_OFF,
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SAFE = 10,
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DETUMBLE = 11,
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IDLE = 12,
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PTG_TARGET_NADIR = 13,
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PTG_TARGET = 14,
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PTG_TARGET_GS = 15,
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PTG_TARGET_INERTIAL = 16,
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};
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
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//!< The limits for the rotation in safe mode were violated.
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static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
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//!< The system has recovered from a safe rate rotation violation.
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static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
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} // namespace acs
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#endif /* MISSION_ACSDEFS_H_ */
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@ -10,11 +10,11 @@ enum class Datarate : uint8_t {
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};
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enum Submode : uint8_t {
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RX_ONLY,
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RX_AND_TX_DEFAULT_DATARATE,
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RX_AND_TX_LOW_DATARATE,
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RX_AND_TX_HIGH_DATARATE,
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RX_AND_TX_CW,
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RX_ONLY = 10,
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RX_AND_TX_DEFAULT_DATARATE = 11,
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RX_AND_TX_LOW_DATARATE = 12,
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RX_AND_TX_HIGH_DATARATE = 13,
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RX_AND_TX_CW = 14,
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NUM_SUBMODES
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};
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@ -2,6 +2,7 @@
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#include <fsfw/datapool/PoolReadGuard.h>
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#include "mission/acsDefs.h"
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#include "mission/config/torquer.h"
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AcsController::AcsController(object_id_t objectId)
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@ -45,15 +46,15 @@ void AcsController::performControlOperation() {
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case InternalState::READY: {
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if (mode != MODE_OFF) {
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switch (submode) {
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case SUBMODE_SAFE:
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case acs::SAFE:
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performSafe();
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break;
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case SUBMODE_DETUMBLE:
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case acs::DETUMBLE:
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performDetumble();
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break;
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case SUBMODE_PTG_TARGET:
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case SUBMODE_PTG_NADIR:
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case SUBMODE_PTG_INERTIAL:
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case acs::PTG_TARGET:
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case acs::PTG_TARGET_NADIR:
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case acs::PTG_TARGET_INERTIAL:
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performPointingCtrl();
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break;
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}
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@ -151,9 +152,9 @@ void AcsController::performSafe() {
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detumbleCounter = 0;
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}
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if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
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submode = SUBMODE_DETUMBLE;
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detumbleCounter = 0;
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triggerEvent(SAFE_RATE_VIOLATION);
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// Triggers detubmle mode transition in subsystem
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triggerEvent(acs::SAFE_RATE_VIOLATION);
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}
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{
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@ -208,8 +209,9 @@ void AcsController::performDetumble() {
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detumbleCounter = 0;
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}
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if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
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submode = SUBMODE_SAFE;
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detumbleCounter = 0;
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// Triggers safe mode transition in subsystem
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triggerEvent(acs::SAFE_RATE_RECOVERY);
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}
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int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
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@ -484,9 +486,9 @@ void AcsController::copyMgmData() {
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}
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void AcsController::copySusData() {
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ACS::SensorValues sensorValues;
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{
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PoolReadGuard pg(&sensorValues.susSets[0]);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(susDataRaw.sus0.value, sensorValues.susSets[0].channels.value,
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6 * sizeof(uint16_t));
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@ -24,16 +24,6 @@ class AcsController : public ExtendedControllerBase {
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AcsController(object_id_t objectId);
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static const Submode_t SUBMODE_SAFE = 2;
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static const Submode_t SUBMODE_DETUMBLE = 3;
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static const Submode_t SUBMODE_PTG_TARGET = 4;
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static const Submode_t SUBMODE_PTG_NADIR = 5;
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static const Submode_t SUBMODE_PTG_INERTIAL = 6;
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
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static const Event SAFE_RATE_VIOLATION =
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MAKE_EVENT(0, severity::MEDIUM); //!< The limits for the rotation in safe mode were violated.
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protected:
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void performSafe();
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void performDetumble();
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@ -70,6 +60,7 @@ class AcsController : public ExtendedControllerBase {
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void announceMode(bool recursive);
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/* ACS Datasets */
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ACS::SensorValues sensorValues;
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IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
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// MGMs
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acsctrl::MgmDataRaw mgmDataRaw;
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@ -901,8 +901,8 @@ class AcsParameters /*: public HasParametersIF*/ {
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struct DetumbleParameter {
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uint8_t detumblecounter = 75; // 30 s
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double omegaDetumbleStart = 2 * M_PI / 180;
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double omegaDetumbleEnd = 0.4 * M_PI / 180;
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double omegaDetumbleStart = 2;
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double omegaDetumbleEnd = 0.4;
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double gainD = pow(10.0, -3.3);
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} detumbleParameter;
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};
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@ -54,21 +54,22 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1
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VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
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}
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void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits) {
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// Convert to Unit frame
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void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
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// Convert to actuator frame
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MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
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dipolMoment, dipolMomentUnits, 3, 3, 1);
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// Scaling along largest element if dipol exceeds maximum
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dipolMoment, dipolMomentActuator, 3, 3, 1);
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// Scaling along largest element if dipol exceeds maximum
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double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
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double maxValue = 0;
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for (int i = 0; i < 3; i++) {
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if (abs(dipolMomentUnits[i]) > maxDipol) {
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maxValue = abs(dipolMomentUnits[i]);
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if (abs(dipolMomentActuator[i]) > maxDipol) {
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maxValue = abs(dipolMomentActuator[i]);
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}
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}
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if (maxValue > maxDipol) {
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double scalingFactor = maxDipol / maxValue;
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VectorOperations<double>::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3);
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VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
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}
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// scale dipole from 1 Am^2 to 1e^-4 Am^2
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VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
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}
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@ -35,9 +35,9 @@ class ActuatorCmd {
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* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
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*
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* @param: dipolMoment given dipol moment in spacecraft frame
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* dipolMomentUnits resulting dipol moment for every unit
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* dipolMomentActuator resulting dipol moment in actuator reference frame
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*/
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void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
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void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);
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protected:
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private:
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@ -1,14 +0,0 @@
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#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
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#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
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#include <fsfw/modes/HasModesIF.h>
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namespace acs {
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enum CtrlModes { OFF = HasModesIF::MODE_OFF, SAFE = 1, DETUMBLE = 2, IDLE = 3, TARGET_PT = 4 };
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static constexpr Submode_t IDLE_CHARGE = 1;
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} // namespace acs
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#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */
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@ -162,7 +162,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
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pus::PUS_SERVICE_20);
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new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, config::EIVE_PUS_APID,
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pus::PUS_SERVICE_200, 8);
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HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID, *healthTable, 20);
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HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID, *healthTable,
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20);
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new CServiceHealthCommanding(healthCfg);
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#if OBSW_ADD_CFDP_COMPONENTS == 1
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@ -63,7 +63,7 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
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lp_var_t<uint32_t>(sid.objectId, GpsHyperion::UNIX_SECONDS, this);
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private:
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friend class GPSHyperionLinuxController;
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friend class GpsHyperionLinuxController;
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GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
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: StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
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};
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@ -489,7 +489,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
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// Refresh torque command without changing any of the set dipoles.
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void refreshTorqueing(uint16_t durationMs_) { currentTorqueDurationMs = durationMs_; }
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void setDipoles(uint16_t xDipole_, uint16_t yDipole_, uint16_t zDipole_,
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void setDipoles(int16_t xDipole_, int16_t yDipole_, int16_t zDipole_,
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uint16_t currentTorqueDurationMs_) {
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if (xDipole.value != xDipole_) {
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}
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@ -503,7 +503,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
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currentTorqueDurationMs = currentTorqueDurationMs_;
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}
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void getDipoles(uint16_t& xDipole_, uint16_t& yDipole_, uint16_t& zDipole_) {
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void getDipoles(int16_t& xDipole_, int16_t& yDipole_, int16_t& zDipole_) {
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xDipole_ = xDipole.value;
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yDipole_ = yDipole.value;
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zDipole_ = zDipole.value;
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@ -1,5 +1,83 @@
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#include "AcsSubsystem.h"
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#include <fsfw/events/EventManagerIF.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include "fsfw/modes/ModeMessage.h"
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#include "mission/acsDefs.h"
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AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
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uint32_t maxNumberOfTables)
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: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
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: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
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auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
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eventQueue =
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QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
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}
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ReturnValue_t AcsSubsystem::initialize() {
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EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
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if (manager == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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ReturnValue_t result = manager->registerListener(eventQueue->getId());
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if (result != returnvalue::OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "AcsSubsystem::registerListener: Failed to register as "
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"listener"
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<< std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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;
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}
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result =
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manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_VIOLATION));
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if (result != returnvalue::OK) {
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sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_VIOLATION failed" << std::endl;
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}
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result =
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manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_RECOVERY));
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if (result != returnvalue::OK) {
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sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
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}
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return Subsystem::initialize();
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}
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void AcsSubsystem::performChildOperation() {
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handleEventMessages();
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return Subsystem::performChildOperation();
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}
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void AcsSubsystem::handleEventMessages() {
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EventMessage event;
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for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
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result = eventQueue->receiveMessage(&event)) {
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switch (event.getMessageId()) {
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case EventMessage::EVENT_MESSAGE:
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if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
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CommandMessage msg;
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ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0);
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ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
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if (result != returnvalue::OK) {
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sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
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}
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}
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if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
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CommandMessage msg;
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ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::SAFE, 0);
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ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
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if (result != returnvalue::OK) {
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sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl;
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}
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}
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break;
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default:
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sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe "
|
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"to this event message"
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<< std::endl;
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break;
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}
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}
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}
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@ -8,6 +8,12 @@ class AcsSubsystem : public Subsystem {
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AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
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private:
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ReturnValue_t initialize() override;
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void performChildOperation() override;
|
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void handleEventMessages();
|
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MessageQueueIF* eventQueue = nullptr;
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};
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#endif /* MISSION_SYSTEM_ACSSUBSYSTEM_H_ */
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@ -18,7 +18,14 @@ enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
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namespace payload {
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enum Mode { OFF = 0, SUPV_ONLY = 1, MPSOC_STREAM = 2, CAM_STREAM = 3, EARTH_OBSV = 4, SCEX = 5 };
|
||||
enum Mode {
|
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OFF = 0,
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SUPV_ONLY = 10,
|
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MPSOC_STREAM = 11,
|
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CAM_STREAM = 12,
|
||||
EARTH_OBSV = 13,
|
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SCEX = 14
|
||||
};
|
||||
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namespace ploc {
|
||||
|
||||
|
||||
@ -7,10 +7,10 @@
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||||
#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);
|
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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);
|
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void buildTargetPtSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
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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
|
||||
|
||||
@ -27,7 +27,7 @@ static const auto OFF = HasModesIF::MODE_OFF;
|
||||
static const auto ON = HasModesIF::MODE_ON;
|
||||
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
|
||||
|
||||
auto PL_SEQUENCE_OFF = std::make_pair(payload::Mode::OFF << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
auto PL_SEQUENCE_OFF = std::make_pair(payload::Mode::OFF, FixedArrayList<ModeListEntry, 3>());
|
||||
auto PL_TABLE_OFF_TGT =
|
||||
std::make_pair((payload::Mode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
|
||||
auto PL_TABLE_OFF_TRANS_0 =
|
||||
@ -36,7 +36,7 @@ auto PL_TABLE_OFF_TRANS_1 =
|
||||
std::make_pair((payload::Mode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto PL_SEQUENCE_MPSOC_STREAM =
|
||||
std::make_pair(payload::Mode::MPSOC_STREAM << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
std::make_pair(payload::Mode::MPSOC_STREAM, FixedArrayList<ModeListEntry, 3>());
|
||||
auto PL_TABLE_MPSOC_STREAM_TGT =
|
||||
std::make_pair((payload::Mode::MPSOC_STREAM << 24) | 1, FixedArrayList<ModeListEntry, 5>());
|
||||
auto PL_TABLE_MPSOC_STREAM_TRANS_0 =
|
||||
@ -45,7 +45,7 @@ auto PL_TABLE_MPSOC_STREAM_TRANS_1 =
|
||||
std::make_pair((payload::Mode::MPSOC_STREAM << 24) | 3, FixedArrayList<ModeListEntry, 2>());
|
||||
|
||||
auto PL_SEQUENCE_CAM_STREAM =
|
||||
std::make_pair(payload::Mode::CAM_STREAM << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
std::make_pair(payload::Mode::CAM_STREAM, FixedArrayList<ModeListEntry, 3>());
|
||||
auto PL_TABLE_CAM_STREAM_TGT =
|
||||
std::make_pair((payload::Mode::CAM_STREAM << 24) | 1, FixedArrayList<ModeListEntry, 2>());
|
||||
auto PL_TABLE_CAM_STREAM_TRANS_0 =
|
||||
@ -54,7 +54,7 @@ auto PL_TABLE_CAM_STREAM_TRANS_1 =
|
||||
std::make_pair((payload::Mode::CAM_STREAM << 24) | 3, FixedArrayList<ModeListEntry, 2>());
|
||||
|
||||
auto PL_SEQUENCE_SUPV_ONLY =
|
||||
std::make_pair(payload::Mode::SUPV_ONLY << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
std::make_pair(payload::Mode::SUPV_ONLY, FixedArrayList<ModeListEntry, 3>());
|
||||
auto PL_TABLE_SUPV_ONLY_TGT =
|
||||
std::make_pair((payload::Mode::SUPV_ONLY << 24) | 1, FixedArrayList<ModeListEntry, 5>());
|
||||
auto PL_TABLE_SUPV_ONLY_TRANS_0 =
|
||||
@ -63,7 +63,7 @@ auto PL_TABLE_SUPV_ONLY_TRANS_1 =
|
||||
std::make_pair((payload::Mode::SUPV_ONLY << 24) | 3, FixedArrayList<ModeListEntry, 5>());
|
||||
|
||||
auto PL_SEQUENCE_EARTH_OBSV =
|
||||
std::make_pair(payload::Mode::EARTH_OBSV << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
std::make_pair(payload::Mode::EARTH_OBSV, FixedArrayList<ModeListEntry, 3>());
|
||||
auto PL_TABLE_EARTH_OBSV_TGT =
|
||||
std::make_pair((payload::Mode::EARTH_OBSV << 24) | 1, FixedArrayList<ModeListEntry, 5>());
|
||||
auto PL_TABLE_EARTH_OBSV_TRANS_0 =
|
||||
@ -71,8 +71,7 @@ auto PL_TABLE_EARTH_OBSV_TRANS_0 =
|
||||
auto PL_TABLE_EARTH_OBSV_TRANS_1 =
|
||||
std::make_pair((payload::Mode::EARTH_OBSV << 24) | 3, FixedArrayList<ModeListEntry, 2>());
|
||||
|
||||
auto PL_SEQUENCE_SCEX =
|
||||
std::make_pair(payload::Mode::SCEX << 24, FixedArrayList<ModeListEntry, 2>());
|
||||
auto PL_SEQUENCE_SCEX = std::make_pair(payload::Mode::SCEX, FixedArrayList<ModeListEntry, 2>());
|
||||
auto PL_TABLE_SCEX_TGT =
|
||||
std::make_pair((payload::Mode::SCEX << 24) | 1, FixedArrayList<ModeListEntry, 1>());
|
||||
auto PL_TABLE_SCEX_TRANS_0 =
|
||||
|
||||
@ -361,7 +361,7 @@ void CcsdsIpCoreHandler::checkTxTimer() {
|
||||
}
|
||||
if (transmitterCountdown.hasTimedOut()) {
|
||||
disableTransmit();
|
||||
//TODO: set mode to off (move timer to subsystem)
|
||||
// TODO: set mode to off (move timer to subsystem)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user