added remaining acs modes as system modes
This commit is contained in:
parent
1cbb7d0af8
commit
f5e20db03f
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@ -9,8 +9,15 @@ extern std::atomic_uint16_t I2C_FATAL_ERRORS;
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namespace satsystem {
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enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE };
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enum Mode : Mode_t {
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BOOT = 5,
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SAFE = acs::AcsMode::SAFE,
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PTG_IDLE = acs::AcsMode::PTG_IDLE,
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PTG_NADIR = acs::AcsMode::PTG_NADIR,
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PTG_TARGET = acs::AcsMode::PTG_TARGET,
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PTG_TARGET_GS = acs::AcsMode::PTG_TARGET_GS,
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PTG_INERTIAL = acs::AcsMode::PTG_INERTIAL,
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};
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}
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namespace xsc {
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@ -39,18 +39,22 @@ void EiveSystem::announceMode(bool recursive) {
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modeStr = "POINTING IDLE";
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break;
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}
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case (acs::AcsMode::PTG_INERTIAL): {
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modeStr = "POINTING INERTIAL";
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case (satsystem::Mode::PTG_NADIR): {
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modeStr = "POINTING NADIR";
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break;
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}
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case (acs::AcsMode::PTG_TARGET): {
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case (satsystem::Mode::PTG_TARGET): {
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modeStr = "POINTING TARGET";
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break;
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}
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case (acs::AcsMode::PTG_TARGET_GS): {
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case (satsystem::Mode::PTG_TARGET_GS): {
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modeStr = "POINTING TARGET GS";
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break;
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}
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case (satsystem::Mode::PTG_INERTIAL): {
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modeStr = "POINTING INERTIAL";
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break;
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}
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}
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sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
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return Subsystem::announceMode(recursive);
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@ -22,6 +22,10 @@ const auto check = subsystem::checkInsert;
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void buildBootSequence(Subsystem& ss, ModeListEntry& eh);
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void buildSafeSequence(Subsystem& ss, ModeListEntry& eh);
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void buildIdleSequence(Subsystem& ss, ModeListEntry& eh);
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void buildPtgNadirSequence(Subsystem& ss, ModeListEntry& eh);
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void buildPtgTargetSequence(Subsystem& ss, ModeListEntry& eh);
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void buildPtgTargetGsSequence(Subsystem& ss, ModeListEntry& eh);
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void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh);
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} // namespace
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static const auto OFF = HasModesIF::MODE_OFF;
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@ -40,6 +44,10 @@ void satsystem::init() {
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buildBootSequence(EIVE_SYSTEM, entry);
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buildSafeSequence(EIVE_SYSTEM, entry);
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buildIdleSequence(EIVE_SYSTEM, entry);
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buildPtgNadirSequence(EIVE_SYSTEM, entry);
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buildPtgTargetSequence(EIVE_SYSTEM, entry);
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buildPtgTargetGsSequence(EIVE_SYSTEM, entry);
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buildPtgInertialSequence(EIVE_SYSTEM, entry);
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EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0);
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}
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@ -68,8 +76,89 @@ auto EIVE_TABLE_IDLE_TRANS_0 =
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auto EIVE_TABLE_IDLE_TRANS_1 =
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std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_SEQUENCE_PTG_NADIR =
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std::make_pair(satsystem::Mode::PTG_NADIR, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_PTG_NADIR_TGT =
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std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_PTG_NADIR_TRANS_0 =
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std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_PTG_NADIR_TRANS_1 =
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std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_SEQUENCE_PTG_TARGET =
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std::make_pair(satsystem::Mode::PTG_TARGET, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_PTG_TARGET_TGT =
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std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_PTG_TARGET_TRANS_0 =
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std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_PTG_TARGET_TRANS_1 =
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std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_SEQUENCE_PTG_TARGET_GS =
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std::make_pair(satsystem::Mode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_PTG_TARGET_GS_TGT =
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std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_PTG_TARGET_GS_TRANS_0 =
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std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_PTG_TARGET_GS_TRANS_1 =
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std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_SEQUENCE_PTG_INERTIAL =
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std::make_pair(satsystem::Mode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_PTG_INERTIAL_TGT =
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std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_PTG_INERTIAL_TRANS_0 =
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std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_PTG_INERTIAL_TRANS_1 =
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std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 5>());
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namespace {
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void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::buildBootSequence";
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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, ArrayList<ModeListEntry>& table,
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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(table.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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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TGT.second, true);
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iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
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iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TGT.second);
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iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
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check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TGT.first, &EIVE_TABLE_BOOT_TGT.second)), ctxc);
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// Build SAFE transition 0.
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iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
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iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TRANS_0.second);
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iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second, true);
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check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TRANS_0.first, &EIVE_TABLE_BOOT_TRANS_0.second)),
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ctxc);
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// Build Safe sequence
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ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TGT.first, 0, false);
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ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TRANS_0.first, 0, false);
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check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_BOOT.first, &EIVE_SEQUENCE_BOOT.second,
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EIVE_SEQUENCE_SAFE.first)),
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ctxc);
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}
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void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::buildSafeSequence";
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auto ctxc = context.c_str();
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@ -150,18 +239,14 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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ctxc);
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}
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void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::buildBootSequence";
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void buildPtgNadirSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::buildPtgNadirSequence";
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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, ArrayList<ModeListEntry>& table,
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bool allowAllSubmodes = false) {
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
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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(table.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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@ -173,25 +258,146 @@ void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
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check(sequence.insert(eh), ctxc);
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};
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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TGT.second, true);
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iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
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iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TGT.second);
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iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
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check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TGT.first, &EIVE_TABLE_BOOT_TGT.second)), ctxc);
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// Build SAFE transition 0.
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iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
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iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TRANS_0.second);
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iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second, true);
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check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TRANS_0.first, &EIVE_TABLE_BOOT_TRANS_0.second)),
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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_NADIR, 0, EIVE_TABLE_PTG_NADIR_TGT.second);
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check(ss.addTable(TableEntry(EIVE_TABLE_PTG_NADIR_TGT.first, &EIVE_TABLE_PTG_NADIR_TGT.second)),
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ctxc);
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// Build Safe sequence
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ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TGT.first, 0, false);
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ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TRANS_0.first, 0, false);
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check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_BOOT.first, &EIVE_SEQUENCE_BOOT.second,
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EIVE_SEQUENCE_SAFE.first)),
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// Build PTG_NADIR transition 0
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iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
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iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_NADIR, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
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check(ss.addTable(
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TableEntry(EIVE_TABLE_PTG_NADIR_TRANS_0.first, &EIVE_TABLE_PTG_NADIR_TRANS_0.second)),
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ctxc);
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// Build PTG_NADIR sequence
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ihs(EIVE_SEQUENCE_PTG_NADIR.second, EIVE_TABLE_PTG_NADIR_TGT.first, 0, false);
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ihs(EIVE_SEQUENCE_PTG_NADIR.second, EIVE_TABLE_PTG_NADIR_TRANS_0.first, 0, false);
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check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_NADIR.first, &EIVE_SEQUENCE_PTG_NADIR.second,
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EIVE_SEQUENCE_IDLE.first)),
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ctxc);
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}
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void buildPtgTargetSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::buildPtgTargetSequence";
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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, ArrayList<ModeListEntry>& table) {
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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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check(table.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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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET, 0, EIVE_TABLE_PTG_TARGET_TGT.second);
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check(ss.addTable(TableEntry(EIVE_TABLE_PTG_TARGET_TGT.first, &EIVE_TABLE_PTG_TARGET_TGT.second)),
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ctxc);
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// Build PTG_TARGET transition 0
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iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
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iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
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check(ss.addTable(
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TableEntry(EIVE_TABLE_PTG_TARGET_TRANS_0.first, &EIVE_TABLE_PTG_TARGET_TRANS_0.second)),
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ctxc);
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// Build PTG_TARGET sequence
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ihs(EIVE_SEQUENCE_PTG_TARGET.second, EIVE_TABLE_PTG_TARGET_TGT.first, 0, false);
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ihs(EIVE_SEQUENCE_PTG_TARGET.second, EIVE_TABLE_PTG_TARGET_TRANS_0.first, 0, false);
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check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_TARGET.first,
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&EIVE_SEQUENCE_PTG_TARGET.second, EIVE_SEQUENCE_IDLE.first)),
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ctxc);
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}
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void buildPtgTargetGsSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::buildPtgTargetGsSequence";
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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, ArrayList<ModeListEntry>& table) {
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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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check(table.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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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET_GS, 0, EIVE_TABLE_PTG_TARGET_GS_TGT.second);
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check(ss.addTable(
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TableEntry(EIVE_TABLE_PTG_TARGET_GS_TGT.first, &EIVE_TABLE_PTG_TARGET_GS_TGT.second)),
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ctxc);
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// Build PTG_TARGET_GS transition 0
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iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
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iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET_GS, 0,
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EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
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check(ss.addTable(TableEntry(EIVE_TABLE_PTG_TARGET_GS_TRANS_0.first,
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&EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second)),
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ctxc);
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// Build PTG_TARGET_GS sequence
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ihs(EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_TABLE_PTG_TARGET_GS_TGT.first, 0, false);
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ihs(EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.first, 0, false);
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check(
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ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_TARGET_GS.first,
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&EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_SEQUENCE_IDLE.first)),
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ctxc);
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}
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void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::buildPtgInertialSequence";
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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, ArrayList<ModeListEntry>& table) {
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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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check(table.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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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_INERTIAL, 0, EIVE_TABLE_PTG_INERTIAL_TGT.second);
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check(ss.addTable(
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TableEntry(EIVE_TABLE_PTG_INERTIAL_TGT.first, &EIVE_TABLE_PTG_INERTIAL_TGT.second)),
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ctxc);
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// Build PTG_INERTIAL transition 0
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iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
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iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_INERTIAL, 0,
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EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
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check(ss.addTable(TableEntry(EIVE_TABLE_PTG_INERTIAL_TRANS_0.first,
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&EIVE_TABLE_PTG_INERTIAL_TRANS_0.second)),
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ctxc);
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||||
// Build PTG_INERTIAL sequence
|
||||
ihs(EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_TABLE_PTG_INERTIAL_TGT.first, 0, false);
|
||||
ihs(EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_TABLE_PTG_INERTIAL_TRANS_0.first, 0, false);
|
||||
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_INERTIAL.first,
|
||||
&EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_SEQUENCE_IDLE.first)),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user