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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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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