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Merge remote-tracking branch 'origin/mueller/acs-ss-init' into mueller/pl-ss
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This commit is contained in:
Robin Müller
2022-10-17 10:52:05 +02:00
parent aa86bc722f ed7bba2cf5
commit d190165bf3
200 changed files with 4986 additions and 2265 deletions
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8
mission/system/tree/CMakeLists.txt
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@ -1,6 +1,2 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE
acsModeTree.cpp
payloadModeTree.cpp
system.cpp
util.cpp
)
target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp payloadModeTree.cpp
system.cpp util.cpp)

46
mission/system/tree/acsModeTree.cpp
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@ -1,16 +1,22 @@
#include "acsModeTree.h"
#include <commonObjects.h>
#include <fsfw/container/FixedMap.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/subsystem/modes/ModeDefinitions.h>
#include "eive/objects.h"
#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
#include "util.h"
// Alias for checker function
Subsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
namespace {
// Alias for checker function
const auto check = subsystem::checkInsert;
void checkInsert(ReturnValue_t result, const char* ctx);
void buildOffSequence(Subsystem* ss, ModeListEntry& eh);
void buildDetumbleSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildSafeSequence(Subsystem* ss, ModeListEntry& entryHelper);
@ -19,7 +25,7 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper);
} // namespace
const auto check = subsystem::checkInsert;
static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
@ -69,7 +75,7 @@ auto ACS_TABLE_IDLE_CHRG_TRANS_1 = std::make_pair(
auto ACS_SEQUENCE_TARGET_PT =
std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_TARGET_PT_TGT =
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 5>());
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_TARGET_PT_TRANS_0 =
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_TARGET_PT_TRANS_1 =
@ -77,14 +83,13 @@ auto ACS_TABLE_TARGET_PT_TRANS_1 =
void satsystem::acs::init() {
ModeListEntry entry;
Subsystem* acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, objects::EIVE_SYSTEM, 12, 24);
buildOffSequence(acsSubsystem, entry);
buildSafeSequence(acsSubsystem, entry);
buildDetumbleSequence(acsSubsystem, entry);
buildIdleSequence(acsSubsystem, entry);
buildIdleChargeSequence(acsSubsystem, entry);
buildTargetPtSequence(acsSubsystem, entry);
acsSubsystem->setInitialMode(OFF);
buildOffSequence(&ACS_SUBSYSTEM, entry);
buildSafeSequence(&ACS_SUBSYSTEM, entry);
buildDetumbleSequence(&ACS_SUBSYSTEM, entry);
buildIdleSequence(&ACS_SUBSYSTEM, entry);
buildIdleChargeSequence(&ACS_SUBSYSTEM, entry);
buildTargetPtSequence(&ACS_SUBSYSTEM, entry);
ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
}
namespace {
@ -152,7 +157,7 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
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);
check(ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
check(ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
// Build SAFE transition 0
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
@ -172,7 +177,7 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
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_OFF.first,
check(ss->addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
false, true),
ctxc);
}
@ -385,4 +390,17 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
ctxc);
}
void checkInsert(ReturnValue_t result, const char* ctx) {
if (result != returnvalue::OK) {
sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx;
if (result == mapdefs::KEY_ALREADY_EXISTS) {
sif::warning << ": Key already exists" << std::endl;
} else if (result == mapdefs::MAP_FULL) {
sif::warning << ": Map full" << std::endl;
} else {
sif::warning << std::endl;
}
}
}
} // namespace

3
mission/system/tree/acsModeTree.h
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@ -5,7 +5,8 @@ class Subsystem;
namespace satsystem {
namespace acs {
extern Subsystem ACS_SUBSYSTEM;
void init();
}
} // namespace acs
} // namespace satsystem

14
mission/system/tree/payloadModeTree.cpp
View File

@ -1,6 +1,6 @@
#include "payloadModeTree.h"
#include <commonObjects.h>
#include "eive/objects.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/retval.h>
@ -74,7 +74,7 @@ auto PL_TABLE_SCEX_TRANS_0 =
void satsystem::pl::init() {
ModeListEntry entry;
Subsystem* plSubsystem = new Subsystem(objects::PL_SUBSYSTEM, objects::EIVE_SYSTEM, 12, 24);
Subsystem* plSubsystem = new Subsystem(objects::PL_SUBSYSTEM, 12, 24);
initOffSequence(plSubsystem, entry);
initPlMpsocStreamSequence(plSubsystem, entry);
initPlCamStreamSequence(plSubsystem, entry);
@ -112,7 +112,7 @@ void initOffSequence(Subsystem* ss, ModeListEntry& eh) {
// Build OFF transition 0
iht(objects::PLOC_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS.second);
iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS.second);
iht(objects::SCEX_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS.second);
iht(objects::SCEX, OFF, 0, PL_TABLE_OFF_TRANS.second);
iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS.second);
iht(objects::PLOC_SUBSYSTEM, OFF, 0, PL_TABLE_OFF_TRANS.second);
check(ss->addTable(TableEntry(PL_TABLE_OFF_TRANS.first, &PL_TABLE_OFF_TRANS.second)), ctxc);
@ -158,7 +158,7 @@ void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh) {
// Build MPSoC stream transition 0
iht(objects::PLOC_SWITCHER, ON, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
iht(objects::SCEX_HANDLER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
iht(objects::SCEX, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
check(ss->addTable(
TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_0.first, &PL_TABLE_MPSOC_STREAM_TRANS_0.second)),
ctxc);
@ -209,7 +209,7 @@ void initPlCamStreamSequence(Subsystem* ss, ModeListEntry& eh) {
// PLOC is actively commanded off here
iht(objects::PLOC_SUBSYSTEM, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
iht(objects::SCEX_HANDLER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
iht(objects::SCEX, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
check(ss->addTable(
TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_0.first, &PL_TABLE_MPSOC_STREAM_TRANS_0.second)),
ctxc);
@ -345,12 +345,12 @@ void initScexSequence(Subsystem* ss, ModeListEntry& eh) {
};
// Build SCEX target
iht(objects::SCEX_HANDLER, NML, 0, PL_TABLE_SCEX_TGT.second);
iht(objects::SCEX, NML, 0, PL_TABLE_SCEX_TGT.second);
check(ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TGT.first, &PL_TABLE_EARTH_OBSV_TGT.second)),
ctxc);
// Build SCEX transition 0
iht(objects::SCEX_HANDLER, NML, 0, PL_TABLE_SCEX_TGT.second);
iht(objects::SCEX, NML, 0, PL_TABLE_SCEX_TGT.second);
check(ss->addTable(TableEntry(PL_TABLE_SCEX_TRANS_0.first, &PL_TABLE_SCEX_TRANS_0.second)), ctxc);
// Build SCEX sequence