baseline acs mode tree done
This commit is contained in:
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baa6f05f8e
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bbb4ba2191
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@ -20,100 +20,284 @@ auto ACS_TABLE_OFF_TRANS =
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std::make_pair((acs::CtrlModes::OFF << 8) | 2, FixedArrayList<ModeListEntry, 6>());
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auto ACS_SEQUENCE_DETUMBLE =
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std::make_pair(acs::CtrlModes::DETUMBLE, FixedArrayList<ModeListEntry, 2>());
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std::make_pair(acs::CtrlModes::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_DETUMBLE_TGT =
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std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 1, FixedArrayList<ModeListEntry, 3>());
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std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_DETUMBLE_TRANS_0 =
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std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_DETUMBLE_TRANS_1 =
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std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_SAFE =
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std::make_pair(acs::CtrlModes::SAFE, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_SAFE_TGT =
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std::make_pair((acs::CtrlModes::SAFE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_SAFE_TRANS_0 =
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std::make_pair((acs::CtrlModes::SAFE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_SAFE_TRANS_1 =
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std::make_pair((acs::CtrlModes::SAFE << 8) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_IDLE =
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std::make_pair(acs::CtrlModes::IDLE, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_IDLE_TGT =
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std::make_pair((acs::CtrlModes::IDLE << 8) | 1, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_IDLE_TRANS_0 =
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std::make_pair((acs::CtrlModes::IDLE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_IDLE_TRANS_1 =
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std::make_pair((acs::CtrlModes::IDLE << 8) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_TARGET_PT =
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std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_TARGET_PT_TGT =
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std::make_pair((acs::CtrlModes::TARGET_PT << 8) | 1, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_TARGET_PT_TRANS_0 =
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std::make_pair((acs::CtrlModes::TARGET_PT << 8) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_TARGET_PT_TRANS_1 =
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std::make_pair((acs::CtrlModes::TARGET_PT << 8) | 3, FixedArrayList<ModeListEntry, 1>());
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enum InsertType {
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TABLE,
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SEQ
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};
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void satsystem::acsSubsystemInit() {
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ModeListEntry entry;
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Subsystem* acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, objects::EIVE_SYSTEM, 20, 20);
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buildOffSequence(acsSubsystem, entry);
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buildSafeSequence(acsSubsystem, entry);
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buildDetumbleSequence(acsSubsystem, entry);
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buildIdleSequence(acsSubsystem, entry);
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buildTargetPtSequence(acsSubsystem, entry);
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acsSubsystem->setInitialMode(HasModesIF::MODE_OFF);
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}
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void satsystem::buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
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std::string context = "satsystem::buildOffSequence";
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auto ctxc = context.c_str();
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// Insert Helper Table
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
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ArrayList<ModeListEntry>& table) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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CHK(table.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&]( ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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bool checkSuccess) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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CHK(sequence.insert(eh), ctxc);
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};
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auto ih = [&](object_id_t obj, Mode_t mode, Submode_t submode,
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// OFF Target table is empty
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ss->addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true);
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// Build OFF transition
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iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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ss->addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true);
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// Build OFF sequence
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ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false);
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ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS.first, 0, false);
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ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first, false,
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true);
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}
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void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
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std::string context = "satsystem::buildSafeSequence";
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auto ctxc = context.c_str();
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// Insert Helper Table
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
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ArrayList<ModeListEntry>& sequence) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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CHK(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&]( ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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bool checkSuccess) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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CHK(sequence.insert(eh), ctxc);
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};
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// Build SAFE target
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
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ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_OFF_TGT.first, false, true);
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// Build OFF transition
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ih(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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ih(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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ih(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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ih(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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ih(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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ih(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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// Build SAFE transition 0
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
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iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
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ss->addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true);
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// Build OFF sequence
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eh.setTableId(ACS_TABLE_OFF_TGT.first);
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eh.setWaitSeconds(0);
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eh.setCheckSuccess(false);
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CHK(ACS_SEQUENCE_OFF.second.insert(eh), ctxc);
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// Build SAFE transition 1
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
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ss->addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true);
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eh.setTableId(ACS_TABLE_OFF_TRANS.first);
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eh.setWaitSeconds(0);
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eh.setCheckSuccess(false);
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CHK(ACS_SEQUENCE_OFF.second.insert(eh), ctxc);
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// Build OFF target
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ss->addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true);
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ss->addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true);
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ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first, false,
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// Build SAFE sequence
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ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, false);
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ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false);
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ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
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ss->addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_OFF.first, false,
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true);
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}
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void satsystem::buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
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std::string context = "satsystem::buildDetumbleSequence";
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auto ctxc = context.c_str();
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auto ih = [&](object_id_t obj, Mode_t mode, Submode_t submode,
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// Insert Helper Table
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
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ArrayList<ModeListEntry>& sequence) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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CHK(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&]( ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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bool checkSuccess) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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CHK(sequence.insert(eh), ctxc);
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};
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// Build DETUMBLE target
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ih(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
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ih(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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ih(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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ih(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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ss->addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true);
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// Build DETUMBLE transition 0
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ih(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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ih(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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ih(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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ih(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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ih(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false, true);
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// Build DETUMBLE transition 1
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ih(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
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// Build full sequence
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ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false, true);
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
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ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false, true);
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// Build DETUMBLE sequence
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ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, false);
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ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false);
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ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false);
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ss->addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
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ACS_SEQUENCE_DETUMBLE.first, false, true);
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}
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void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {}
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void satsystem::buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {}
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void satsystem::buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
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std::string context = "satsystem::buildIdleSequence";
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auto ctxc = context.c_str();
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// Insert Helper Table
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
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ArrayList<ModeListEntry>& sequence) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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CHK(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&]( ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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bool checkSuccess) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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CHK(sequence.insert(eh), ctxc);
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};
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// Build IDLE target
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
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ss->addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
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void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {}
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// Build IDLE transition 0
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::RW_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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ss->addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
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// Build IDLE transition 1
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
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ss->addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
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// Build IDLE sequence
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ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, false);
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ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, false);
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ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, false);
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ss->addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first,
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ACS_SEQUENCE_IDLE.first, false, true);
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}
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void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
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std::string context = "satsystem::buildTargetPtSequence";
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auto ctxc = context.c_str();
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// Insert Helper Table
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
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ArrayList<ModeListEntry>& sequence) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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CHK(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&]( ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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bool checkSuccess) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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CHK(sequence.insert(eh), ctxc);
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};
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// Build TARGET PT table
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
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iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
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ss->addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true);
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// Build TARGET PT transition 0
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false, true);
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// Build TARGET PT transition 1
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
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ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false, true);
|
||||
|
||||
// Build IDLE sequence
|
||||
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, false);
|
||||
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, false);
|
||||
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
|
||||
ss->addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
|
||||
ACS_SEQUENCE_TARGET_PT.first, false, true);
|
||||
}
|
||||
|
||||
void satsystem::checkInsert(ReturnValue_t result, const char* ctx) {
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
|
|
|||
Loading…
Reference in New Issue