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Merge remote-tracking branch 'origin/develop' into acs-ctrl-v1

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This commit is contained in:
Robin Müller
2022-12-01 15:57:09 +01:00
parent 828738ba0e 3180602217
commit fb2325b9ea
114 changed files with 6605 additions and 3243 deletions
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70
mission/controller/ThermalController.cpp
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@ -38,8 +38,11 @@ ThermalController::ThermalController(object_id_t objectId)
EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
max31865Set14(objects::RTD_14_IC17_TCS_BOARD, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
max31865Set15(objects::RTD_15_IC18_IMTQ, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
tmp1075Set1(objects::TMP1075_HANDLER_1),
tmp1075Set2(objects::TMP1075_HANDLER_2),
tmp1075SetTcs0(objects::TMP1075_HANDLER_TCS_0),
tmp1075SetTcs1(objects::TMP1075_HANDLER_TCS_1),
tmp1075SetPlPcdu0(objects::TMP1075_HANDLER_PLPCDU_0),
tmp1075SetPlPcdu1(objects::TMP1075_HANDLER_PLPCDU_1),
tmp1075SetIfBoard(objects::TMP1075_HANDLER_IF_BOARD),
susSet0(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
susSet1(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
susSet2(objects::SUS_2_N_LOC_XFYBZB_PT_YB),
@ -128,10 +131,11 @@ ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& lo
new PoolEntry<float>({14.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MAGNETTORQUER,
new PoolEntry<float>({15.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_1,
new PoolEntry<float>({15.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_2,
new PoolEntry<float>({15.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_TCS_0, &tmp1075Tcs0);
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_TCS_1, &tmp1075Tcs1);
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_PLPCDU_0, &tmp1075PlPcdu0);
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_PLPCDU_1, &tmp1075PlPcdu1);
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_IF_BOARD, &tmp1075IfBrd);
localDataPoolMap.emplace(thermalControllerDefinitions::SUS_0_N_LOC_XFYFZM_PT_XF,
new PoolEntry<float>({0.0}));
@ -415,23 +419,53 @@ void ThermalController::copySensors() {
}
{
PoolReadGuard pg111(&tmp1075Set1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg111.getReadResult() == returnvalue::OK) {
sensorTemperatures.sensor_tmp1075_1.value = tmp1075Set1.temperatureCelcius.value;
sensorTemperatures.sensor_tmp1075_1.setValid(tmp1075Set1.temperatureCelcius.isValid());
if (not tmp1075Set1.temperatureCelcius.isValid()) {
sensorTemperatures.sensor_tmp1075_1.value = INVALID_TEMPERATURE;
PoolReadGuard pg(&tmp1075SetTcs0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() == returnvalue::OK) {
sensorTemperatures.tmp1075Tcs0.value = tmp1075SetTcs0.temperatureCelcius.value;
sensorTemperatures.tmp1075Tcs0.setValid(tmp1075SetTcs0.temperatureCelcius.isValid());
if (not tmp1075SetTcs0.temperatureCelcius.isValid()) {
sensorTemperatures.tmp1075Tcs0.value = INVALID_TEMPERATURE;
}
}
}
{
PoolReadGuard pg112(&tmp1075Set2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg112.getReadResult() == returnvalue::OK) {
sensorTemperatures.sensor_tmp1075_2.value = tmp1075Set2.temperatureCelcius.value;
sensorTemperatures.sensor_tmp1075_2.setValid(tmp1075Set2.temperatureCelcius.isValid());
if (not tmp1075Set2.temperatureCelcius.isValid()) {
sensorTemperatures.sensor_tmp1075_2.value = INVALID_TEMPERATURE;
PoolReadGuard pg(&tmp1075SetTcs1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() == returnvalue::OK) {
sensorTemperatures.tmp1075Tcs1.value = tmp1075SetTcs1.temperatureCelcius.value;
sensorTemperatures.tmp1075Tcs1.setValid(tmp1075SetTcs1.temperatureCelcius.isValid());
if (not tmp1075SetTcs1.temperatureCelcius.isValid()) {
sensorTemperatures.tmp1075Tcs1.value = INVALID_TEMPERATURE;
}
}
}
{
PoolReadGuard pg(&tmp1075SetPlPcdu0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() == returnvalue::OK) {
sensorTemperatures.tmp1075PlPcdu0.value = tmp1075SetPlPcdu0.temperatureCelcius.value;
sensorTemperatures.tmp1075PlPcdu0.setValid(tmp1075SetPlPcdu0.temperatureCelcius.isValid());
if (not tmp1075SetPlPcdu0.temperatureCelcius.isValid()) {
sensorTemperatures.tmp1075PlPcdu0.value = INVALID_TEMPERATURE;
}
}
}
{
PoolReadGuard pg(&tmp1075SetPlPcdu1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() == returnvalue::OK) {
sensorTemperatures.tmp1075PlPcdu1.value = tmp1075SetPlPcdu1.temperatureCelcius.value;
sensorTemperatures.tmp1075PlPcdu1.setValid(tmp1075SetPlPcdu1.temperatureCelcius.isValid());
if (not tmp1075SetPlPcdu1.temperatureCelcius.isValid()) {
sensorTemperatures.tmp1075PlPcdu1.value = INVALID_TEMPERATURE;
}
}
}
{
PoolReadGuard pg(&tmp1075SetIfBoard, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() == returnvalue::OK) {
sensorTemperatures.tmp1075IfBrd.value = tmp1075SetIfBoard.temperatureCelcius.value;
sensorTemperatures.tmp1075IfBrd.setValid(tmp1075SetIfBoard.temperatureCelcius.isValid());
if (not tmp1075SetIfBoard.temperatureCelcius.isValid()) {
sensorTemperatures.tmp1075IfBrd.value = INVALID_TEMPERATURE;
}
}
}

13
mission/controller/ThermalController.h
View File

@ -55,8 +55,11 @@ class ThermalController : public ExtendedControllerBase {
MAX31865::Max31865Set max31865Set13;
MAX31865::Max31865Set max31865Set14;
MAX31865::Max31865Set max31865Set15;
TMP1075::Tmp1075Dataset tmp1075Set1;
TMP1075::Tmp1075Dataset tmp1075Set2;
TMP1075::Tmp1075Dataset tmp1075SetTcs0;
TMP1075::Tmp1075Dataset tmp1075SetTcs1;
TMP1075::Tmp1075Dataset tmp1075SetPlPcdu0;
TMP1075::Tmp1075Dataset tmp1075SetPlPcdu1;
TMP1075::Tmp1075Dataset tmp1075SetIfBoard;
// SUS
SUS::SusDataset susSet0;
@ -75,6 +78,12 @@ class ThermalController : public ExtendedControllerBase {
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(DELAY);
PoolEntry<float> tmp1075Tcs0 = PoolEntry<float>(10.0);
PoolEntry<float> tmp1075Tcs1 = PoolEntry<float>(10.0);
PoolEntry<float> tmp1075PlPcdu0 = PoolEntry<float>(10.0);
PoolEntry<float> tmp1075PlPcdu1 = PoolEntry<float>(10.0);
PoolEntry<float> tmp1075IfBrd = PoolEntry<float>(10.0);
static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
void copySensors();
void copySus();

19
mission/controller/controllerdefinitions/ThermalControllerDefinitions.h
View File

@ -30,8 +30,11 @@ enum PoolIds : lp_id_t {
SENSOR_PLPCDU_HEATSPREADER,
SENSOR_TCS_BOARD,
SENSOR_MAGNETTORQUER,
SENSOR_TMP1075_1,
SENSOR_TMP1075_2,
SENSOR_TMP1075_TCS_0,
SENSOR_TMP1075_TCS_1,
SENSOR_TMP1075_PLPCDU_0,
SENSOR_TMP1075_PLPCDU_1,
SENSOR_TMP1075_IF_BOARD,
SUS_0_N_LOC_XFYFZM_PT_XF,
SUS_6_R_LOC_XFYBZM_PT_XF,
@ -75,7 +78,7 @@ enum PoolIds : lp_id_t {
TEMP_ADC_PAYLOAD_PCDU
};
static const uint8_t ENTRIES_SENSOR_TEMPERATURE_SET = 18;
static const uint8_t ENTRIES_SENSOR_TEMPERATURE_SET = 25;
static const uint8_t ENTRIES_DEVICE_TEMPERATURE_SET = 25;
static const uint8_t ENTRIES_SUS_TEMPERATURE_SET = 12;
@ -111,8 +114,14 @@ class SensorTemperatures : public StaticLocalDataSet<ENTRIES_SENSOR_TEMPERATURE_
lp_var_t<float> sensor_tcs_board = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TCS_BOARD, this);
lp_var_t<float> sensor_magnettorquer =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MAGNETTORQUER, this);
lp_var_t<float> sensor_tmp1075_1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_1, this);
lp_var_t<float> sensor_tmp1075_2 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_2, this);
lp_var_t<float> tmp1075Tcs0 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_TCS_0, this);
lp_var_t<float> tmp1075Tcs1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_TCS_1, this);
lp_var_t<float> tmp1075PlPcdu0 =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_PLPCDU_0, this);
lp_var_t<float> tmp1075PlPcdu1 =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_PLPCDU_1, this);
lp_var_t<float> tmp1075IfBrd =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_IF_BOARD, this);
};
/**

12
mission/core/GenericFactory.cpp
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@ -99,12 +99,12 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
#if OBSW_ADD_TCPIP_BRIDGE == 1
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
auto tcpIpTmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
sif::info << "Created UDP server for TMTC commanding with listener port "
<< udpBridge->getUdpPort() << std::endl;
<< tmtcBridge->getUdpPort() << std::endl;
#else
auto tcpIpTmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
// TCP is stream based. Use packet ID as start marker when parsing for space packets
tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID, common::CFDP_PACKET_ID});
@ -114,7 +114,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
tcpServer->enableWiretapping(true);
#endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
tcpIpTmtcBridge->setMaxNumberOfPacketsStored(150);
tmtcBridge->setMaxNumberOfPacketsStored(150);
#endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
auto* ccsdsDistrib =
@ -124,8 +124,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
*cfdpFunnel = new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, config::EIVE_CFDP_APID, *tmStore, 50);
*pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, *timeStamper, *tmStore, 80);
#if OBSW_ADD_TCPIP_BRIDGE == 1
(*cfdpFunnel)->addDestination(*tcpIpTmtcBridge, 0);
(*pusFunnel)->addDestination(*tcpIpTmtcBridge, 0);
(*cfdpFunnel)->addDestination(*tmtcBridge, 0);
(*pusFunnel)->addDestination(*tmtcBridge, 0);
#endif
// Every TM packet goes through this funnel
new TmFunnelHandler(objects::TM_FUNNEL, **pusFunnel, **cfdpFunnel);

13
mission/devices/ScexDeviceHandler.cpp
View File

@ -28,6 +28,7 @@ void ScexDeviceHandler::doStartUp() { setMode(MODE_ON); }
void ScexDeviceHandler::doShutDown() {
reader.reset();
commandActive = false;
multiFileFinishOutstanding = false;
setMode(_MODE_POWER_DOWN);
}
@ -96,6 +97,7 @@ ReturnValue_t ScexDeviceHandler::buildCommandFromCommand(DeviceCommandId_t devic
<< remainingMillis << std::endl;
}
multiFileFinishOutstanding = true;
prepareScexCmd(cmdTyped, {cmdBuf.data(), cmdBuf.size()}, rawPacketLen,
{commandData + 1, commandDataLen - 1}, tempCheck);
updatePeriodicReply(true, deviceCommand);
@ -105,6 +107,7 @@ ReturnValue_t ScexDeviceHandler::buildCommandFromCommand(DeviceCommandId_t devic
finishCountdown.setTimeout(LONG_CD);
// countdown starts
finishCountdown.resetTimer();
multiFileFinishOutstanding = true;
prepareScexCmd(cmdTyped, {cmdBuf.data(), cmdBuf.size()}, rawPacketLen,
{commandData + 1, commandDataLen - 1}, tempCheck);
updatePeriodicReply(true, deviceCommand);
@ -114,6 +117,7 @@ ReturnValue_t ScexDeviceHandler::buildCommandFromCommand(DeviceCommandId_t devic
finishCountdown.setTimeout(LONG_CD);
// countdown starts
finishCountdown.resetTimer();
multiFileFinishOutstanding = true;
prepareScexCmd(cmdTyped, {cmdBuf.data(), cmdBuf.size()}, rawPacketLen,
{commandData + 1, commandDataLen - 1}, tempCheck);
updatePeriodicReply(true, deviceCommand);
@ -173,17 +177,14 @@ ReturnValue_t ScexDeviceHandler::handleValidReply(size_t remSize, DeviceCommandI
sif::info << "ScexDeviceHandler::handleValidReply: RemMillis: " << remainingMillis
<< std::endl;
}
finishAction(true, helper.getCmd(), OK);
result = APERIODIC_REPLY;
break;
}
case (ONE_CELL): {
finishAction(true, helper.getCmd(), OK);
result = APERIODIC_REPLY;
break;
}
case (ALL_CELLS_CMD): {
finishAction(true, helper.getCmd(), OK);
result = APERIODIC_REPLY;
break;
}
@ -191,6 +192,11 @@ ReturnValue_t ScexDeviceHandler::handleValidReply(size_t remSize, DeviceCommandI
break;
}
}
if (result == APERIODIC_REPLY and multiFileFinishOutstanding) {
finishAction(true, helper.getCmd(), OK);
multiFileFinishOutstanding = false;
}
*foundId = helper.getCmd();
*foundLen = remSize;
return result;
@ -250,6 +256,7 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
}
return OK;
};
id = helper.getCmd();
switch (id) {
case (PING): {
status = oneFileHandler("ping_");

1
mission/devices/ScexDeviceHandler.h
View File

@ -28,6 +28,7 @@ class ScexDeviceHandler : public DeviceHandlerBase {
std::string fileName = "";
bool fileNameSet = false;
bool commandActive = false;
bool multiFileFinishOutstanding = false;
bool debugMode = false;
scex::Cmds currCmd = scex::Cmds::PING;

4
mission/devices/Tmp1075Handler.cpp
View File

@ -86,7 +86,7 @@ ReturnValue_t Tmp1075Handler::interpretDeviceReply(DeviceCommandId_t id, const u
int16_t tempValueRaw = 0;
tempValueRaw = packet[0] << 4 | packet[1] >> 4;
float tempValue = ((static_cast<float>(tempValueRaw)) * 0.0625);
#if OBSW_VERBOSE_LEVEL >= 1
#if OBSW_DEBUG_TMP1075 == 1
sif::info << "Tmp1075 with object id: 0x" << std::hex << getObjectId()
<< ": Temperature: " << tempValue << " °C" << std::endl;
#endif
@ -127,3 +127,5 @@ ReturnValue_t Tmp1075Handler::initializeLocalDataPool(localpool::DataPool &local
subdp::RegularHkPeriodicParams(dataset.getSid(), false, 30.0));
return returnvalue::OK;
}
void Tmp1075Handler::setModeNormal() { setMode(_MODE_TO_NORMAL); }

2
mission/devices/Tmp1075Handler.h
View File

@ -20,6 +20,8 @@ class Tmp1075Handler : public DeviceHandlerBase {
Tmp1075Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie);
virtual ~Tmp1075Handler();
void setModeNormal();
protected:
void doStartUp() override;
void doShutDown() override;

36
mission/devices/devicedefinitions/SpBase.h
View File

@ -14,43 +14,48 @@ struct SpTcParams {
SpTcParams(SpacePacketCreator& creator, uint8_t* buf, size_t maxSize)
: creator(creator), buf(buf), maxSize(maxSize) {}
void setPayloadLen(size_t payloadLen_) { dataFieldLen = payloadLen_ + 2; }
void setDataFieldLen(size_t dataFieldLen_) { dataFieldLen = dataFieldLen_; }
void setFullPayloadLen(size_t fullPayloadLen_) { fullPayloadLen = fullPayloadLen_; }
SpacePacketCreator& creator;
uint8_t* buf = nullptr;
size_t maxSize = 0;
size_t dataFieldLen = 0;
size_t fullPayloadLen = 0;
};
class SpTcBase {
public:
SpTcBase(SpTcParams params) : spParams(params) {
payloadStart = spParams.buf + ccsds::HEADER_LEN;
updateSpFields();
}
SpTcBase(SpTcParams params) : SpTcBase(params, 0x00, 1, 0) {}
SpTcBase(SpTcParams params, uint16_t apid, uint16_t seqCount) : spParams(params) {
SpTcBase(SpTcParams params, uint16_t apid, size_t payloadLen)
: SpTcBase(params, apid, payloadLen, 0) {}
SpTcBase(SpTcParams params, uint16_t apid, size_t payloadLen, uint16_t seqCount)
: spParams(params) {
spParams.creator.setApid(apid);
spParams.creator.setSeqCount(seqCount);
payloadStart = spParams.buf + ccsds::HEADER_LEN;
spParams.fullPayloadLen = payloadLen;
updateSpFields();
}
void updateSpFields() {
spParams.creator.setDataLenField(spParams.dataFieldLen - 1);
updateLenFromParams();
spParams.creator.setPacketType(ccsds::PacketType::TC);
}
void updateLenFromParams() { spParams.creator.setDataLenField(spParams.fullPayloadLen - 1); }
const uint8_t* getFullPacket() const { return spParams.buf; }
const uint8_t* getPacketData() const { return spParams.buf + ccsds::HEADER_LEN; }
size_t getFullPacketLen() const { return spParams.creator.getFullPacketLen(); }
uint16_t getApid() const { return spParams.creator.getApid(); }
uint16_t getSeqCount() const { return spParams.creator.getSequenceCount(); }
ReturnValue_t checkPayloadLen() {
if (ccsds::HEADER_LEN + spParams.dataFieldLen > spParams.maxSize) {
if (ccsds::HEADER_LEN + spParams.fullPayloadLen > spParams.maxSize) {
return SerializeIF::BUFFER_TOO_SHORT;
}
@ -71,7 +76,7 @@ class SpTcBase {
return serializeHeader();
}
ReturnValue_t calcCrc() {
ReturnValue_t calcAndSetCrc() {
/* Calculate crc */
uint16_t crc = CRC::crc16ccitt(spParams.buf, getFullPacketLen() - 2);
@ -101,12 +106,7 @@ class SpTmReader : public SpacePacketReader {
return setReadOnlyData(buf, maxSize);
}
/**
* @brief Returns the payload data length (data field length without CRC)
*/
uint16_t getPayloadDataLength() { return getPacketDataLen() - 2; }
ReturnValue_t checkCrc() {
ReturnValue_t checkCrc() const {
if (CRC::crc16ccitt(getFullData(), getFullPacketLen()) != 0) {
return returnvalue::FAILED;
}

3
mission/devices/devicedefinitions/payloadPcduDefinitions.h
View File

@ -101,6 +101,9 @@ enum NormalSubmodeBits {
};
static constexpr Submode_t ALL_OFF_SUBMODE = 0;
static constexpr Submode_t ALL_ON_SUBMODE = (1 << HPA_ON) | (1 << MPA_ON) | (1 << TX_ON) |
(1 << X8_ON) | (1 << DRO_ON) |
(1 << SOLID_STATE_RELAYS_ADC_ON);
// 12 ADC values * 2 + trailing zero
static constexpr size_t ADC_REPLY_SIZE = 25;

1
mission/system/objects/CMakeLists.txt
View File

@ -1,6 +1,7 @@
target_sources(
${LIB_EIVE_MISSION}
PRIVATE EiveSystem.cpp
CamSwitcher.cpp
AcsSubsystem.cpp
ComSubsystem.cpp
PayloadSubsystem.cpp

5
mission/system/objects/CamSwitcher.cpp Normal file
View File

@ -0,0 +1,5 @@
#include "CamSwitcher.h"
CamSwitcher::CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher,
power::Switch_t pwrSwitch)
: PowerSwitcherComponent(objectId, &pwrSwitcher, pwrSwitch) {}

13
mission/system/objects/CamSwitcher.h Normal file
View File

@ -0,0 +1,13 @@
#ifndef MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_
#define MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_
#include <fsfw/power/PowerSwitcherComponent.h>
class CamSwitcher : public PowerSwitcherComponent {
public:
CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher, power::Switch_t pwrSwitch);
private:
};
#endif /* MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_ */

12
mission/system/objects/definitions.h
View File

@ -16,4 +16,16 @@ enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
} // namespace duallane
namespace payload {
enum Modes { NONE = 0, SUPV_ONLY = 1, MPSOC_STREAM = 2, CAM_STREAM = 3, EARTH_OBSV = 4, SCEX = 5 };
namespace ploc {
enum Modes { OFF = 0, SUPV_ONLY = 1, MPSOC_ON = 2 };
}
} // namespace payload
#endif /* MISSION_SYSTEM_DEFINITIONS_H_ */

3
mission/system/tree/CMakeLists.txt
View File

@ -1 +1,2 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp)
target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp payloadModeTree.cpp
system.cpp util.cpp)

42
mission/system/tree/acsModeTree.cpp
View File

@ -8,26 +8,29 @@
#include "eive/objects.h"
#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
#include "util.h"
Subsystem satsystem::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
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);
void buildIdleSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper);
} // namespace
// Alias for checker function
const auto check = checkInsert;
static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
auto ACS_SEQUENCE_OFF =
std::make_pair(acs::CtrlModes::OFF << 24, FixedArrayList<ModeListEntry, 2>());
auto ACS_TABLE_OFF_TGT =
std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 0>());
std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
auto ACS_TABLE_OFF_TRANS =
std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());
@ -76,7 +79,7 @@ auto ACS_TABLE_TARGET_PT_TRANS_0 =
auto ACS_TABLE_TARGET_PT_TRANS_1 =
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
void satsystem::initAcsSubsystem(object_id_t satSystemObjId) {
void satsystem::acs::init() {
ModeListEntry entry;
buildOffSequence(&ACS_SUBSYSTEM, entry);
buildSafeSequence(&ACS_SUBSYSTEM, entry);
@ -87,8 +90,10 @@ void satsystem::initAcsSubsystem(object_id_t satSystemObjId) {
ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
}
namespace {
void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildOffSequence";
std::string context = "satsystem::acs::buildOffSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
@ -127,7 +132,7 @@ void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
}
void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildSafeSequence";
std::string context = "satsystem::acs::buildSafeSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@ -176,7 +181,7 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
}
void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildDetumbleSequence";
std::string context = "satsystem::acs::buildDetumbleSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@ -228,7 +233,7 @@ void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
}
void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildIdleSequence";
std::string context = "satsystem::acs::buildIdleSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@ -275,7 +280,7 @@ void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
}
void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildIdleChargeSequence";
std::string context = "satsystem::acs::buildIdleChargeSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@ -329,7 +334,7 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
}
void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildTargetPtSequence";
std::string context = "satsystem::acs::buildTargetPtSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@ -383,15 +388,4 @@ 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

5
mission/system/tree/acsModeTree.h
View File

@ -3,9 +3,10 @@
class Subsystem;
namespace satsystem {
namespace acs {
extern Subsystem ACS_SUBSYSTEM;
void init();
void initAcsSubsystem(object_id_t satSystemObjId);
} // namespace acs
} // namespace satsystem

372
mission/system/tree/payloadModeTree.cpp Normal file
View File

@ -0,0 +1,372 @@
#include "payloadModeTree.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/retval.h>
#include <fsfw/subsystem/Subsystem.h>
#include "eive/objects.h"
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
#include "mission/system/objects/PayloadSubsystem.h"
#include "mission/system/objects/definitions.h"
#include "util.h"
namespace {
void initOffSequence(Subsystem& ss, ModeListEntry& eh);
void initPlMpsocStreamSequence(Subsystem& ss, ModeListEntry& eh);
void initPlCamStreamSequence(Subsystem& ss, ModeListEntry& eh);
void initPlSpvSequence(Subsystem& ss, ModeListEntry& eh);
void initEarthObsvSequence(Subsystem& ss, ModeListEntry& eh);
void initScexSequence(Subsystem& ss, ModeListEntry& eh);
} // namespace
Subsystem satsystem::pl::SUBSYSTEM = Subsystem(objects::PL_SUBSYSTEM, 12, 24);
const auto check = subsystem::checkInsert;
static const auto OFF = HasModesIF::MODE_OFF;
static const auto ON = HasModesIF::MODE_ON;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
auto PL_SEQUENCE_OFF = std::make_pair(OFF << 24, FixedArrayList<ModeListEntry, 3>());
auto PL_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
auto PL_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto PL_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto PL_SEQUENCE_MPSOC_STREAM =
std::make_pair(payload::Modes::MPSOC_STREAM << 24, FixedArrayList<ModeListEntry, 3>());
auto PL_TABLE_MPSOC_STREAM_TGT =
std::make_pair((payload::Modes::MPSOC_STREAM << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto PL_TABLE_MPSOC_STREAM_TRANS_0 =
std::make_pair((payload::Modes::MPSOC_STREAM << 24) | 2, FixedArrayList<ModeListEntry, 4>());
auto PL_TABLE_MPSOC_STREAM_TRANS_1 =
std::make_pair((payload::Modes::MPSOC_STREAM << 24) | 3, FixedArrayList<ModeListEntry, 2>());
auto PL_SEQUENCE_CAM_STREAM =
std::make_pair(payload::Modes::CAM_STREAM << 24, FixedArrayList<ModeListEntry, 3>());
auto PL_TABLE_CAM_STREAM_TGT =
std::make_pair((payload::Modes::CAM_STREAM << 24) | 1, FixedArrayList<ModeListEntry, 2>());
auto PL_TABLE_CAM_STREAM_TRANS_0 =
std::make_pair((payload::Modes::CAM_STREAM << 24) | 2, FixedArrayList<ModeListEntry, 4>());
auto PL_TABLE_CAM_STREAM_TRANS_1 =
std::make_pair((payload::Modes::CAM_STREAM << 24) | 3, FixedArrayList<ModeListEntry, 2>());
auto PL_SEQUENCE_SUPV_ONLY =
std::make_pair(payload::Modes::SUPV_ONLY << 24, FixedArrayList<ModeListEntry, 3>());
auto PL_TABLE_SUPV_ONLY_TGT =
std::make_pair((payload::Modes::SUPV_ONLY << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto PL_TABLE_SUPV_ONLY_TRANS_0 =
std::make_pair((payload::Modes::SUPV_ONLY << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto PL_TABLE_SUPV_ONLY_TRANS_1 =
std::make_pair((payload::Modes::SUPV_ONLY << 24) | 3, FixedArrayList<ModeListEntry, 5>());
auto PL_SEQUENCE_EARTH_OBSV =
std::make_pair(payload::Modes::EARTH_OBSV << 24, FixedArrayList<ModeListEntry, 3>());
auto PL_TABLE_EARTH_OBSV_TGT =
std::make_pair((payload::Modes::EARTH_OBSV << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto PL_TABLE_EARTH_OBSV_TRANS_0 =
std::make_pair((payload::Modes::EARTH_OBSV << 24) | 2, FixedArrayList<ModeListEntry, 3>());
auto PL_TABLE_EARTH_OBSV_TRANS_1 =
std::make_pair((payload::Modes::EARTH_OBSV << 24) | 3, FixedArrayList<ModeListEntry, 2>());
auto PL_SEQUENCE_SCEX =
std::make_pair(payload::Modes::SCEX << 24, FixedArrayList<ModeListEntry, 2>());
auto PL_TABLE_SCEX_TGT =
std::make_pair((payload::Modes::SCEX << 24) | 1, FixedArrayList<ModeListEntry, 1>());
auto PL_TABLE_SCEX_TRANS_0 =
std::make_pair((payload::Modes::SCEX << 24) | 2, FixedArrayList<ModeListEntry, 1>());
void satsystem::pl::init() {
ModeListEntry entry;
initOffSequence(SUBSYSTEM, entry);
initPlMpsocStreamSequence(SUBSYSTEM, entry);
initPlCamStreamSequence(SUBSYSTEM, entry);
initPlSpvSequence(SUBSYSTEM, entry);
initEarthObsvSequence(SUBSYSTEM, entry);
initScexSequence(SUBSYSTEM, entry);
SUBSYSTEM.setInitialMode(OFF);
}
namespace {
void initOffSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::payload::buildOffSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
// Build OFF target. Is empty
check(ss.addTable(TableEntry(PL_TABLE_OFF_TGT.first, &PL_TABLE_OFF_TGT.second)), ctxc);
// Build OFF transition 0
iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
iht(objects::SCEX, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
iht(objects::PLOC_MPSOC_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
check(ss.addTable(TableEntry(PL_TABLE_OFF_TRANS_0.first, &PL_TABLE_OFF_TRANS_0.second)), ctxc);
// Build OFF transition 1
iht(objects::PLOC_SUPERVISOR_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_1.second);
check(ss.addTable(TableEntry(PL_TABLE_OFF_TRANS_1.first, &PL_TABLE_OFF_TRANS_1.second)), ctxc);
// Build OFF sequence
ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TGT.first, 0, false);
ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TRANS_0.first, 0, false);
ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TRANS_1.first, 0, false);
check(ss.addSequence(
SequenceEntry(PL_SEQUENCE_OFF.first, &PL_SEQUENCE_OFF.second, PL_SEQUENCE_OFF.first)),
ctxc);
}
void initPlMpsocStreamSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::payload::initPlMpsocStreamSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
// Build MPSoC stream target
// Camera should always be off to prevent a conflict with the MPSoC streaming
// PL PCDU must be on and in normal mode, but this is commanded separately because of the
// number of commands invovled
iht(objects::PLPCDU_HANDLER, NML, plpcdu::ALL_ON_SUBMODE, PL_TABLE_MPSOC_STREAM_TGT.second);
iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
check(ss.addTable(TableEntry(PL_TABLE_MPSOC_STREAM_TGT.first, &PL_TABLE_MPSOC_STREAM_TGT.second)),
ctxc);
// Build MPSoC stream transition 0
iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
iht(objects::SCEX, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 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);
// Build MPSoC stream transition 1
iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TRANS_1.second);
check(ss.addTable(
TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_1.first, &PL_TABLE_MPSOC_STREAM_TRANS_1.second)),
ctxc);
// Build MPSoC stream sequence
ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TGT.first, 0, true);
ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TRANS_0.first, 0, true);
ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TRANS_1.first, 0, false);
check(ss.addSequence(SequenceEntry(PL_SEQUENCE_MPSOC_STREAM.first,
&PL_SEQUENCE_MPSOC_STREAM.second, PL_SEQUENCE_OFF.first)),
ctxc);
}
void initPlCamStreamSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::payload::initPlCamStreamSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
// Build CAM target
// Only check that the PL PCDU is on for now. It might later become necessary to switch on
// the PLOC, so we ignore its state.
iht(objects::PLPCDU_HANDLER, NML, plpcdu::ALL_ON_SUBMODE, PL_TABLE_CAM_STREAM_TGT.second);
check(ss.addTable(TableEntry(PL_TABLE_CAM_STREAM_TGT.first, &PL_TABLE_CAM_STREAM_TGT.second)),
ctxc);
// Build CAM transition 0
// PLOC is actively commanded off here
iht(objects::PLOC_MPSOC_HANDLER, OFF, 0, PL_TABLE_CAM_STREAM_TRANS_0.second);
iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_CAM_STREAM_TRANS_0.second);
iht(objects::SCEX, OFF, 0, PL_TABLE_CAM_STREAM_TRANS_0.second);
check(ss.addTable(
TableEntry(PL_TABLE_CAM_STREAM_TRANS_0.first, &PL_TABLE_CAM_STREAM_TRANS_0.second)),
ctxc);
// Build CAM transition 1
iht(objects::PLOC_SUPERVISOR_HANDLER, OFF, 0, PL_TABLE_CAM_STREAM_TRANS_1.second);
check(ss.addTable(
TableEntry(PL_TABLE_CAM_STREAM_TRANS_1.first, &PL_TABLE_CAM_STREAM_TRANS_1.second)),
ctxc);
// Build CAM stream sequence
ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TGT.first, 0, true);
ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TRANS_0.first, 0, true);
ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TRANS_1.first, 0, false);
check(ss.addSequence(SequenceEntry(PL_SEQUENCE_CAM_STREAM.first, &PL_SEQUENCE_CAM_STREAM.second,
PL_SEQUENCE_OFF.first)),
ctxc);
}
void initPlSpvSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::payload::initPlSupvSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
// Build Payload Supervisor Only target
iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_SUPV_ONLY_TGT.second);
check(ss.addTable(TableEntry(PL_TABLE_SUPV_ONLY_TGT.first, &PL_TABLE_SUPV_ONLY_TGT.second)),
ctxc);
// Build Payload Supervisor Only transition 0
iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_SUPV_ONLY_TRANS_0.second);
iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_SUPV_ONLY_TRANS_0.second);
check(
ss.addTable(TableEntry(PL_TABLE_SUPV_ONLY_TRANS_0.first, &PL_TABLE_SUPV_ONLY_TRANS_0.second)),
ctxc);
// Build Payload Supervisor Only transition 1
iht(objects::PLOC_MPSOC_HANDLER, OFF, 0, PL_TABLE_SUPV_ONLY_TRANS_1.second);
check(
ss.addTable(TableEntry(PL_TABLE_SUPV_ONLY_TRANS_1.first, &PL_TABLE_SUPV_ONLY_TRANS_1.second)),
ctxc);
// Build Payload Supervisor Only Sequence
ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TGT.first, 0, true);
ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TRANS_0.first, 0, true);
ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TRANS_1.first, 0, false);
check(ss.addSequence(SequenceEntry(PL_SEQUENCE_SUPV_ONLY.first, &PL_SEQUENCE_SUPV_ONLY.second,
PL_SEQUENCE_OFF.first)),
ctxc);
}
void initEarthObsvSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::payload::initEarthObsvSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
// Build Earth Observation target
iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_EARTH_OBSV_TGT.second);
iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_EARTH_OBSV_TGT.second);
iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_EARTH_OBSV_TGT.second);
iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_EARTH_OBSV_TGT.second);
check(ss.addTable(TableEntry(PL_TABLE_EARTH_OBSV_TGT.first, &PL_TABLE_EARTH_OBSV_TGT.second)),
ctxc);
// Build Earth Observation transition 0
iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second);
iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second);
iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second);
check(ss.addTable(
TableEntry(PL_TABLE_EARTH_OBSV_TRANS_0.first, &PL_TABLE_EARTH_OBSV_TRANS_0.second)),
ctxc);
// Build Earth Observation transition 1
iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_CAM_STREAM_TRANS_1.second);
check(ss.addTable(
TableEntry(PL_TABLE_EARTH_OBSV_TRANS_1.first, &PL_TABLE_EARTH_OBSV_TRANS_1.second)),
ctxc);
ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TGT.first, 0, true);
ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TRANS_0.first, 0, true);
ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TRANS_1.first, 0, false);
check(ss.addSequence(SequenceEntry(PL_SEQUENCE_EARTH_OBSV.first, &PL_SEQUENCE_EARTH_OBSV.second,
PL_SEQUENCE_OFF.first)),
ctxc);
}
void initScexSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::payload::initScexSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
// Build SCEX target
iht(objects::SCEX, NML, 0, PL_TABLE_SCEX_TGT.second);
check(ss.addTable(TableEntry(PL_TABLE_SCEX_TGT.first, &PL_TABLE_SCEX_TGT.second)), ctxc);
// Build SCEX transition 0
iht(objects::SCEX, NML, 0, PL_TABLE_SCEX_TRANS_0.second);
check(ss.addTable(TableEntry(PL_TABLE_SCEX_TRANS_0.first, &PL_TABLE_SCEX_TRANS_0.second)), ctxc);
// Build SCEX sequence
ihs(PL_SEQUENCE_SCEX.second, PL_TABLE_SCEX_TGT.first, 0, true);
ihs(PL_SEQUENCE_SCEX.second, PL_TABLE_SCEX_TRANS_0.first, 0, false);
check(ss.addSequence(
SequenceEntry(PL_SEQUENCE_SCEX.first, &PL_SEQUENCE_SCEX.second, PL_SEQUENCE_OFF.first)),
ctxc);
}
} // namespace

17
mission/system/tree/payloadModeTree.h Normal file
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@ -0,0 +1,17 @@
#ifndef MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_
#define MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_
#include <fsfw/subsystem/Subsystem.h>
namespace satsystem {
namespace pl {
extern Subsystem SUBSYSTEM;
void init();
} // namespace pl
} // namespace satsystem
#endif /* MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_ */

9
mission/system/tree/system.cpp Normal file
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@ -0,0 +1,9 @@
#include "system.h"
#include "acsModeTree.h"
#include "payloadModeTree.h"
void satsystem::init() {
acs::init();
pl::init();
}

10
mission/system/tree/system.h Normal file
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@ -0,0 +1,10 @@
#ifndef MISSION_SYSTEM_TREE_SYSTEM_H_
#define MISSION_SYSTEM_TREE_SYSTEM_H_
namespace satsystem {
void init();
}
#endif /* MISSION_SYSTEM_TREE_SYSTEM_H_ */

19
mission/system/tree/util.cpp Normal file
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@ -0,0 +1,19 @@
#include "util.h"
#include "fsfw/container/FixedMap.h"
#include "fsfw/serviceinterface.h"
void subsystem::checkInsert(ReturnValue_t result, const char* ctx) {
if (result != returnvalue::OK) {
sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx;
if (result == containers::KEY_ALREADY_EXISTS) {
sif::warning << ": Key already exists" << std::endl;
} else if (result == containers::MAP_FULL) {
sif::warning << ": Map full" << std::endl;
} else if (result == containers::LIST_FULL) {
sif::warning << ": List full" << std::endl;
} else {
sif::warning << std::endl;
}
}
}

12
mission/system/tree/util.h Normal file
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@ -0,0 +1,12 @@
#ifndef MISSION_SYSTEM_TREE_UTIL_H_
#define MISSION_SYSTEM_TREE_UTIL_H_
#include <fsfw/retval.h>
namespace subsystem {
void checkInsert(ReturnValue_t result, const char* ctx);
}
#endif /* MISSION_SYSTEM_TREE_UTIL_H_ */

4
mission/utility/InitMission.h
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@ -3,7 +3,7 @@
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
namespace initmission {
namespace scheduling {
static void printAddObjectError(const char* name, object_id_t objectId) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -16,4 +16,4 @@ static void printAddObjectError(const char* name, object_id_t objectId) {
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
} // namespace initmission
} // namespace scheduling