changelog
This commit is contained in:
parent
e3389c32a7
commit
bf7e4b4b8c
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@ -16,6 +16,15 @@ will consitute of a breaking change warranting a new major release:
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# [unreleased]
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## Fixed
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- Allow arbitrary submodes for dual lane boards to avoid FDIR reactions of subsystem components.
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Bump FSFW to allow this.
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## Changed
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- Fast ACS subsystem commanding: Command SUS board consecutively with other devices now
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# [v1.35.1] 2023-03-04
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## Fixed
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@ -6,8 +6,11 @@
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#include <fsfw/subsystem/Subsystem.h>
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#include <fsfw/subsystem/modes/ModeDefinitions.h>
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#include <optional>
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#include "eive/objects.h"
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#include "mission/acsDefs.h"
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#include "mission/system/objects/definitions.h"
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#include "util.h"
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AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
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@ -100,16 +103,20 @@ Subsystem& satsystem::acs::init() {
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ModeListEntry entry;
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const char* ctxc = "satsystem::acs::init: generic target";
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// Insert Helper Table
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
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bool allowAllSubmodes = false) {
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entry.setObject(obj);
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entry.setMode(mode);
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entry.setSubmode(submode);
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if (allowAllSubmodes) {
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entry.allowAllSubmodes();
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}
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check(table.insert(entry), "satsystem::acs::init: generic target");
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};
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// Build TARGET PT transition 0
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iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
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iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
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iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
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check(ACS_SUBSYSTEM.addTable(
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@ -117,7 +124,7 @@ Subsystem& satsystem::acs::init() {
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ctxc);
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// Build SUS board transition
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iht(objects::SUS_BOARD_ASS, NML, 0, SUS_BOARD_NML_TRANS.second);
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iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, SUS_BOARD_NML_TRANS.second, true);
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check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
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ctxc);
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@ -182,10 +189,13 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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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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ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
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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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if (allowAllSubmodes) {
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eh.allowAllSubmodes();
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}
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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@ -199,13 +209,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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// Build SAFE target
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second);
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iht(objects::IMTQ_ASSY, 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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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
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check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
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// Build SAFE transition 0
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iht(objects::IMTQ_ASSY, 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::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
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iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
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iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
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check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
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@ -220,7 +231,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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// Build SAFE sequence
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ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
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ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false);
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// ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.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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check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
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@ -233,10 +244,13 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
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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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ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
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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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if (allowAllSubmodes) {
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eh.allowAllSubmodes();
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}
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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@ -250,17 +264,15 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
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// Build DETUMBLE target
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::IMTQ_ASSY, 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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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true);
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check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
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ctxc);
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// SUS board transition table is defined above
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// Build DETUMBLE transition 0
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iht(objects::IMTQ_ASSY, 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::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true);
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iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
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@ -275,7 +287,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
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// Build DETUMBLE sequence
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ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true);
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ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false);
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// ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.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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check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
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@ -288,10 +300,13 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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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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ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
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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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if (allowAllSubmodes) {
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eh.allowAllSubmodes();
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}
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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@ -306,16 +321,14 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
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iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::RW_ASSY, 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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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
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ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
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// SUS board transition table is built above
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// Build IDLE transition 0
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iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
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iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
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iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_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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@ -326,7 +339,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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// Build IDLE sequence
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ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
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ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.first, 0, true);
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// ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.first, 0, true);
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ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true);
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ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true);
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ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
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@ -338,10 +351,13 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
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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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ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
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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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if (allowAllSubmodes) {
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eh.allowAllSubmodes();
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}
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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@ -356,14 +372,13 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
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// Build TARGET PT table
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
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iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
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check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
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ctxc);
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// SUS board transition table is built above
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// Transition 0 already built
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// Build TARGET PT transition 1
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second);
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@ -373,7 +388,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
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// Build IDLE sequence
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ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
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ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true);
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// ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true);
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ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
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ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true);
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check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
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@ -386,10 +401,13 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
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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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ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
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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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if (allowAllSubmodes) {
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eh.allowAllSubmodes();
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}
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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@ -405,8 +423,8 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
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ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
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iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
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iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
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check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
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@ -437,10 +455,13 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
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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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ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
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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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if (allowAllSubmodes) {
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eh.allowAllSubmodes();
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}
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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@ -456,8 +477,8 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
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ACS_TABLE_PTG_TARGET_GS_TGT.second);
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iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
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iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
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check(ss.addTable(
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@ -487,10 +508,13 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
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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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ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes) {
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eh.setObject(obj);
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||||
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,
|
||||
|
|
|
|||
Loading…
Reference in New Issue