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use singular enum name
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Robin Müller 2023-02-08 13:18:45 +01:00
parent e25eed7687
commit bfa61632c2
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4 changed files with 48 additions and 48 deletions
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2
mission/acsDefs.h
View File

@ -7,7 +7,7 @@
namespace acs {
// These modes are the submodes of the ACS controller and the modes of the ACS subsystem.
enum AcsModes {
enum AcsMode {
OFF = HasModesIF::MODE_OFF,
SAFE = 10,
DETUMBLE = 11,

2
mission/controller/AcsController.cpp
View File

@ -426,7 +426,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
return INVALID_SUBMODE;
}
} else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
if ((submode < acs::AcsModes::SAFE) or (submode > acs::AcsModes::PTG_TARGET_INERTIAL)) {
if ((submode < acs::AcsMode::SAFE) or (submode > acs::AcsMode::PTG_TARGET_INERTIAL)) {
return INVALID_SUBMODE;
} else {
return returnvalue::OK;

4
mission/system/objects/AcsSubsystem.cpp
View File

@ -58,7 +58,7 @@ void AcsSubsystem::handleEventMessages() {
case EventMessage::EVENT_MESSAGE:
if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::AcsModes::DETUMBLE, 0);
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::DETUMBLE, 0);
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
@ -66,7 +66,7 @@ void AcsSubsystem::handleEventMessages() {
}
if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::AcsModes::SAFE, 0);
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl;

88
mission/system/tree/acsModeTree.cpp
View File

@ -30,69 +30,69 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsModes::OFF, FixedArrayList<ModeListEntry, 3>());
auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsMode::OFF, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_OFF_TGT =
std::make_pair((acs::AcsModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
std::make_pair((acs::AcsMode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
auto ACS_TABLE_OFF_TRANS_0 =
std::make_pair((acs::AcsModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
std::make_pair((acs::AcsMode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
auto ACS_TABLE_OFF_TRANS_1 =
std::make_pair((acs::AcsModes::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
auto ACS_SEQUENCE_DETUMBLE =
std::make_pair(acs::AcsModes::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_DETUMBLE_TGT =
std::make_pair((acs::AcsModes::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
std::make_pair((acs::AcsMode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_DETUMBLE_TRANS_0 =
std::make_pair((acs::AcsModes::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
std::make_pair((acs::AcsMode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_DETUMBLE_TRANS_1 =
std::make_pair((acs::AcsModes::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsModes::SAFE, FixedArrayList<ModeListEntry, 3>());
auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_SAFE_TGT =
std::make_pair((acs::AcsModes::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_SAFE_TRANS_0 =
std::make_pair((acs::AcsModes::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_SAFE_TRANS_1 =
std::make_pair((acs::AcsModes::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsModes::IDLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::IDLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_IDLE_TGT =
std::make_pair((acs::AcsModes::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::AcsMode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_0 =
std::make_pair((acs::AcsModes::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::AcsMode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_1 =
std::make_pair((acs::AcsModes::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
std::make_pair((acs::AcsMode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
auto ACS_TABLE_PTG_TRANS_0 =
std::make_pair((acs::AcsModes::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_SEQUENCE_PTG_TARGET =
std::make_pair(acs::AcsModes::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_TGT =
std::make_pair((acs::AcsModes::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_TRANS_1 =
std::make_pair((acs::AcsModes::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_PTG_TARGET_GS =
std::make_pair(acs::AcsModes::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_GS_TGT =
std::make_pair((acs::AcsModes::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
std::make_pair((acs::AcsModes::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_PTG_TARGET_NADIR =
std::make_pair(acs::AcsModes::PTG_TARGET_NADIR, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::AcsModes::PTG_TARGET_NADIR << 24) | 1,
std::make_pair(acs::AcsMode::PTG_TARGET_NADIR, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::AcsMode::PTG_TARGET_NADIR << 24) | 1,
FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair(
(acs::AcsModes::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
(acs::AcsMode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
std::make_pair(acs::AcsModes::PTG_TARGET_INERTIAL, FixedArrayList<ModeListEntry, 3>());
std::make_pair(acs::AcsMode::PTG_TARGET_INERTIAL, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair(
(acs::AcsModes::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
(acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair(
(acs::AcsModes::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
(acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
void satsystem::acs::init() {
ModeListEntry entry;
@ -122,7 +122,7 @@ void satsystem::acs::init() {
buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
ACS_SUBSYSTEM.setInitialMode(::acs::AcsModes::SAFE);
ACS_SUBSYSTEM.setInitialMode(::acs::AcsMode::SAFE);
}
namespace {
@ -190,7 +190,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// Build SAFE target
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::SAFE, ACS_TABLE_SAFE_TGT.second);
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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);
@ -206,7 +206,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build SAFE transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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);
@ -239,7 +239,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// Build DETUMBLE target
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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);
@ -257,7 +257,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build DETUMBLE transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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);
@ -291,7 +291,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// Build IDLE target
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::IDLE, ACS_TABLE_IDLE_TGT.second);
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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);
@ -307,7 +307,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
// Build IDLE transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::IDLE, ACS_TABLE_IDLE_TRANS_1.second);
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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
@ -339,7 +339,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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);
@ -350,7 +350,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET,
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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),
@ -386,7 +386,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET,
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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);
@ -399,7 +399,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_NADIR,
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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)),
@ -436,7 +436,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_GS,
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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);
@ -449,7 +449,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_GS,
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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)),
@ -485,7 +485,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_INERTIAL,
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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);
@ -498,7 +498,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_INERTIAL,
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::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)),