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changelog
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This commit is contained in:
Robin Müller 2023-03-07 14:20:42 +01:00
parent e3389c32a7
commit bf7e4b4b8c
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2 changed files with 72 additions and 39 deletions
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9
CHANGELOG.md
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@ -16,6 +16,15 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
## Fixed
- Allow arbitrary submodes for dual lane boards to avoid FDIR reactions of subsystem components.
Bump FSFW to allow this.
## Changed
- Fast ACS subsystem commanding: Command SUS board consecutively with other devices now
# [v1.35.1] 2023-03-04
## Fixed

102
mission/system/tree/acsModeTree.cpp
View File

@ -6,8 +6,11 @@
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/subsystem/modes/ModeDefinitions.h>
#include <optional>
#include "eive/objects.h"
#include "mission/acsDefs.h"
#include "mission/system/objects/definitions.h"
#include "util.h"
AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
@ -100,16 +103,20 @@ Subsystem& 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) {
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
bool allowAllSubmodes = false) {
entry.setObject(obj);
entry.setMode(mode);
entry.setSubmode(submode);
if (allowAllSubmodes) {
entry.allowAllSubmodes();
}
check(table.insert(entry), "satsystem::acs::init: generic target");
};
// Build TARGET PT transition 0
iht(objects::IMTQ_ASSY, 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::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
check(ACS_SUBSYSTEM.addTable(
@ -117,7 +124,7 @@ Subsystem& satsystem::acs::init() {
ctxc);
// Build SUS board transition
iht(objects::SUS_BOARD_ASS, NML, 0, SUS_BOARD_NML_TRANS.second);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, SUS_BOARD_NML_TRANS.second, true);
check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
ctxc);
@ -182,10 +189,13 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
@ -199,13 +209,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
// Build SAFE target
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second);
iht(objects::IMTQ_ASSY, 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);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
// Build SAFE transition 0
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
@ -220,7 +231,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
// Build SAFE sequence
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false);
// ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false);
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false);
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
@ -233,10 +244,13 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
@ -250,17 +264,15 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
// Build DETUMBLE target
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
iht(objects::IMTQ_ASSY, 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);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true);
check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
ctxc);
// SUS board transition table is defined above
// Build DETUMBLE transition 0
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
@ -275,7 +287,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
// Build DETUMBLE sequence
ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true);
ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false);
// ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false);
ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false);
ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false);
check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
@ -288,10 +300,13 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
@ -306,16 +321,14 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
// SUS board transition table is built above
// Build IDLE transition 0
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
iht(objects::RW_ASSY, NML, 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);
@ -326,7 +339,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE sequence
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.first, 0, true);
// ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.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, true);
ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
@ -338,10 +351,13 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
@ -356,14 +372,13 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::IMTQ_ASSY, 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::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
iht(objects::RW_ASSY, 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);
// SUS board transition table is built above
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second);
@ -373,7 +388,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE sequence
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true);
// ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.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,
@ -386,10 +401,13 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
@ -405,8 +423,8 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::IMTQ_ASSY, 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::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
iht(objects::RW_ASSY, 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,
@ -437,10 +455,13 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
@ -456,8 +477,8 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::IMTQ_ASSY, 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::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
iht(objects::RW_ASSY, 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(
@ -487,10 +508,13 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
@ -506,8 +530,8 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_INERTIAL,
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::IMTQ_ASSY, 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::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
iht(objects::RW_ASSY, 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,