this should be it for OBSW
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@ -20,7 +20,6 @@ namespace {
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const auto check = subsystem::checkInsert;
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void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
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void buildDetumbleSequence(Subsystem& ss, ModeListEntry& entryHelper);
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void buildSafeSequence(Subsystem& ss, ModeListEntry& entryHelper);
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void buildIdleSequence(Subsystem& ss, ModeListEntry& entryHelper);
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void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh);
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@ -43,15 +42,6 @@ auto ACS_TABLE_OFF_TRANS_0 =
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auto ACS_TABLE_OFF_TRANS_1 =
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std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
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auto ACS_SEQUENCE_DETUMBLE =
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std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_DETUMBLE_TGT =
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std::make_pair((acs::AcsMode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_DETUMBLE_TRANS_0 =
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std::make_pair((acs::AcsMode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_DETUMBLE_TRANS_1 =
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std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
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auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_SAFE_TGT =
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std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
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@ -130,7 +120,6 @@ Subsystem& satsystem::acs::init() {
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buildOffSequence(ACS_SUBSYSTEM, entry);
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buildSafeSequence(ACS_SUBSYSTEM, entry);
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buildDetumbleSequence(ACS_SUBSYSTEM, entry);
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buildIdleSequence(ACS_SUBSYSTEM, entry);
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buildTargetPtSequence(ACS_SUBSYSTEM, entry);
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buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
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@ -206,8 +195,8 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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eh.setCheckSuccess(checkSuccess);
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check(sequence.insert(eh), ctxc);
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};
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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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// Build SAFE target. Allow detumble submode.
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iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, 0, ACS_TABLE_SAFE_TGT.second, true);
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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, true);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
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@ -225,7 +214,8 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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// SUS board transition table is defined above
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// Build SAFE transition 1
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
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iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT,
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ACS_TABLE_SAFE_TRANS_1.second);
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check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
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ctxc);
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@ -238,61 +228,6 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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ctxc);
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}
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void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::acs::buildDetumbleSequence";
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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, 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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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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check(sequence.insert(eh), ctxc);
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};
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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, 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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// 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, 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::STR_ASSY, 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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true),
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ctxc);
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// Build DETUMBLE transition 1
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
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check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
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true),
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ctxc);
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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, 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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ACS_SEQUENCE_SAFE.first, false, true),
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ctxc);
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}
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void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::acs::buildIdleSequence";
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auto ctxc = context.c_str();
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@ -316,7 +251,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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check(sequence.insert(eh), ctxc);
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};
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// Build IDLE target
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
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iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_IDLE, 0, 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::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
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@ -333,7 +268,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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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, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TRANS_1.second);
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iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_IDLE, 0, ACS_TABLE_IDLE_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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@ -368,7 +303,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
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};
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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::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, 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, true);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
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@ -379,7 +314,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
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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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iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TRANS_1.second);
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check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
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true),
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ctxc);
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@ -417,8 +352,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
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};
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// Build TARGET PT table
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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::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0, 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, true);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
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@ -430,7 +364,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
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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_NADIR,
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iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0,
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ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
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check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first,
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&ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)),
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@ -471,8 +405,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
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};
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// Build TARGET PT table
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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::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0, 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, true);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
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@ -484,7 +417,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
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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_GS,
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iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0,
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ACS_TABLE_PTG_TARGET_GS_TRANS_1.second);
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check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_GS_TRANS_1.first,
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&ACS_TABLE_PTG_TARGET_GS_TRANS_1.second)),
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@ -524,7 +457,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
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};
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// Build TARGET PT table
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_INERTIAL,
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iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
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ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
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iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
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@ -537,7 +470,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
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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_INERTIAL,
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iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
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ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
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check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
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&ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),
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@ -82,11 +82,8 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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check(sequence.insert(eh), ctxc);
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};
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// Do no track ACS for now because it might jump to detumble mode and back to safe as part of
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// normal operations.
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// UPDATE: This could be re-enabled as soon as the detumble mode is a submode of
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// ACS CTRL safe mode.
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// iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true);
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// Do no track submode to allow transitions to DETUMBLE submode.
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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true);
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iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TGT.second);
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check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
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