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ACS Subsystem Init #228

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muellerr merged 83 commits from mueller/acs-ss-init into develop 2022-11-02 10:34:40 +01:00
Conversation 1 Commits 83 Files Changed 56 +154 -77
3 changed files with 154 additions and 77 deletions
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224
bsp_q7s/core/acsModeTree.cpp
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@ -13,60 +13,66 @@ const auto CHK = satsystem::checkInsert;
static const auto OFF = HasModesIF::MODE_OFF; static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL; static const auto NML = DeviceHandlerIF::MODE_NORMAL;
auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlModes::OFF, FixedArrayList<ModeListEntry, 2>()); auto ACS_SEQUENCE_OFF =
std::make_pair(acs::CtrlModes::OFF << 24, FixedArrayList<ModeListEntry, 2>());
auto ACS_TABLE_OFF_TGT = auto ACS_TABLE_OFF_TGT =
std::make_pair((acs::CtrlModes::OFF << 8) | 1, FixedArrayList<ModeListEntry, 0>()); std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 0>());
auto ACS_TABLE_OFF_TRANS = auto ACS_TABLE_OFF_TRANS =
std::make_pair((acs::CtrlModes::OFF << 8) | 2, FixedArrayList<ModeListEntry, 6>()); std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto ACS_SEQUENCE_DETUMBLE = auto ACS_SEQUENCE_DETUMBLE =
std::make_pair(acs::CtrlModes::DETUMBLE, FixedArrayList<ModeListEntry, 3>()); std::make_pair(acs::CtrlModes::DETUMBLE << 24, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_DETUMBLE_TGT = auto ACS_TABLE_DETUMBLE_TGT =
std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 1, FixedArrayList<ModeListEntry, 4>()); std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_DETUMBLE_TRANS_0 = auto ACS_TABLE_DETUMBLE_TRANS_0 =
std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 2, FixedArrayList<ModeListEntry, 5>()); std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_DETUMBLE_TRANS_1 = auto ACS_TABLE_DETUMBLE_TRANS_1 =
std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 3, FixedArrayList<ModeListEntry, 1>()); std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_SAFE = auto ACS_SEQUENCE_SAFE =
std::make_pair(acs::CtrlModes::SAFE, FixedArrayList<ModeListEntry, 3>()); std::make_pair(acs::CtrlModes::SAFE << 24, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_SAFE_TGT = auto ACS_TABLE_SAFE_TGT =
std::make_pair((acs::CtrlModes::SAFE << 8) | 1, FixedArrayList<ModeListEntry, 4>()); std::make_pair((acs::CtrlModes::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_SAFE_TRANS_0 = auto ACS_TABLE_SAFE_TRANS_0 =
std::make_pair((acs::CtrlModes::SAFE << 8) | 2, FixedArrayList<ModeListEntry, 5>()); std::make_pair((acs::CtrlModes::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_SAFE_TRANS_1 = auto ACS_TABLE_SAFE_TRANS_1 =
std::make_pair((acs::CtrlModes::SAFE << 8) | 3, FixedArrayList<ModeListEntry, 1>()); std::make_pair((acs::CtrlModes::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_IDLE = auto ACS_SEQUENCE_IDLE =
std::make_pair(acs::CtrlModes::IDLE, FixedArrayList<ModeListEntry, 3>()); std::make_pair(acs::CtrlModes::IDLE << 24, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_IDLE_TGT = auto ACS_TABLE_IDLE_TGT =
std::make_pair((acs::CtrlModes::IDLE << 8) | 1, FixedArrayList<ModeListEntry, 5>()); std::make_pair((acs::CtrlModes::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_IDLE_TRANS_0 = auto ACS_TABLE_IDLE_TRANS_0 =
std::make_pair((acs::CtrlModes::IDLE << 8) | 2, FixedArrayList<ModeListEntry, 5>()); std::make_pair((acs::CtrlModes::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_IDLE_TRANS_1 = auto ACS_TABLE_IDLE_TRANS_1 =
std::make_pair((acs::CtrlModes::IDLE << 8) | 3, FixedArrayList<ModeListEntry, 1>()); std::make_pair((acs::CtrlModes::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_IDLE_CHRG = std::make_pair(acs::CtrlModes::IDLE << 24 | (acs::IDLE_CHARGE << 8),
FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_IDLE_CHRG_TGT = std::make_pair(
(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_IDLE_CHRG_TRANS_0 = std::make_pair(
(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_IDLE_CHRG_TRANS_1 = std::make_pair(
(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_TARGET_PT = auto ACS_SEQUENCE_TARGET_PT =
std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>()); std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_TARGET_PT_TGT = auto ACS_TABLE_TARGET_PT_TGT =
std::make_pair((acs::CtrlModes::TARGET_PT << 8) | 1, FixedArrayList<ModeListEntry, 5>()); std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_TARGET_PT_TRANS_0 = auto ACS_TABLE_TARGET_PT_TRANS_0 =
std::make_pair((acs::CtrlModes::TARGET_PT << 8) | 2, FixedArrayList<ModeListEntry, 5>()); std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_TARGET_PT_TRANS_1 = auto ACS_TABLE_TARGET_PT_TRANS_1 =
std::make_pair((acs::CtrlModes::TARGET_PT << 8) | 3, FixedArrayList<ModeListEntry, 1>()); std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
enum InsertType {
TABLE,
SEQ
};
void satsystem::acsSubsystemInit() { void satsystem::acsSubsystemInit() {
ModeListEntry entry; ModeListEntry entry;
Subsystem* acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, objects::EIVE_SYSTEM, 20, 20); Subsystem* acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, objects::EIVE_SYSTEM, 12, 24);
buildOffSequence(acsSubsystem, entry); buildOffSequence(acsSubsystem, entry);
buildSafeSequence(acsSubsystem, entry); buildSafeSequence(acsSubsystem, entry);
buildDetumbleSequence(acsSubsystem, entry); buildDetumbleSequence(acsSubsystem, entry);
buildIdleSequence(acsSubsystem, entry); buildIdleSequence(acsSubsystem, entry);
buildIdleChargeSequence(acsSubsystem, entry);
buildTargetPtSequence(acsSubsystem, entry); buildTargetPtSequence(acsSubsystem, entry);
acsSubsystem->setInitialMode(HasModesIF::MODE_OFF); acsSubsystem->setInitialMode(HasModesIF::MODE_OFF);
} }
@ -75,16 +81,15 @@ void satsystem::buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildOffSequence"; std::string context = "satsystem::buildOffSequence";
auto ctxc = context.c_str(); auto ctxc = context.c_str();
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
ArrayList<ModeListEntry>& table) {
eh.setObject(obj); eh.setObject(obj);
eh.setMode(mode); eh.setMode(mode);
eh.setSubmode(submode); eh.setSubmode(submode);
CHK(table.insert(eh), ctxc); CHK(table.insert(eh), ctxc);
}; };
// Insert Helper Sequence // Insert Helper Sequence
auto ihs = [&]( ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds, auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) { bool checkSuccess) {
eh.setTableId(tableId); eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds); eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess); eh.setCheckSuccess(checkSuccess);
@ -92,7 +97,7 @@ void satsystem::buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
}; };
// OFF Target table is empty // OFF Target table is empty
ss->addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true); CHK(ss->addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
// Build OFF transition // Build OFF transition
iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second); iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
@ -101,13 +106,14 @@ void satsystem::buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second); iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second); iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second); iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
ss->addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true); CHK(ss->addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true), ctxc);
// Build OFF sequence // Build OFF sequence
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false); ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false);
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS.first, 0, false); ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS.first, 0, false);
ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first, false, CHK(ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
true); false, true),
ctxc);
} }
void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) { void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
@ -115,15 +121,15 @@ void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
auto ctxc = context.c_str(); auto ctxc = context.c_str();
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) { ArrayList<ModeListEntry>& sequence) {
eh.setObject(obj); eh.setObject(obj);
eh.setMode(mode); eh.setMode(mode);
eh.setSubmode(submode); eh.setSubmode(submode);
CHK(sequence.insert(eh), ctxc); CHK(sequence.insert(eh), ctxc);
}; };
// Insert Helper Sequence // Insert Helper Sequence
auto ihs = [&]( ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds, auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) { bool checkSuccess) {
eh.setTableId(tableId); eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds); eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess); eh.setCheckSuccess(checkSuccess);
@ -134,7 +140,7 @@ void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second); 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::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_OFF_TGT.first, false, true); CHK(ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
// Build SAFE transition 0 // Build SAFE transition 0
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
@ -142,18 +148,21 @@ void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
ss->addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true); CHK(ss->addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
ctxc);
// Build SAFE transition 1 // Build SAFE transition 1
iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second); iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
ss->addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true); CHK(ss->addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
ctxc);
// Build SAFE sequence // Build SAFE sequence
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, false); 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_0.first, 0, false);
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false); ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
ss->addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_OFF.first, false, CHK(ss->addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_OFF.first,
true); false, true),
ctxc);
} }
void satsystem::buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) { void satsystem::buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
@ -161,15 +170,15 @@ void satsystem::buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
auto ctxc = context.c_str(); auto ctxc = context.c_str();
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) { ArrayList<ModeListEntry>& sequence) {
eh.setObject(obj); eh.setObject(obj);
eh.setMode(mode); eh.setMode(mode);
eh.setSubmode(submode); eh.setSubmode(submode);
CHK(sequence.insert(eh), ctxc); CHK(sequence.insert(eh), ctxc);
}; };
// Insert Helper Sequence // Insert Helper Sequence
auto ihs = [&]( ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds, auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) { bool checkSuccess) {
eh.setTableId(tableId); eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds); eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess); eh.setCheckSuccess(checkSuccess);
@ -180,7 +189,8 @@ void satsystem::buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
ss->addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true); CHK(ss->addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
ctxc);
// Build DETUMBLE transition 0 // Build DETUMBLE transition 0
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
@ -188,35 +198,39 @@ void satsystem::buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false, true); CHK(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
true),
ctxc);
// Build DETUMBLE transition 1 // Build DETUMBLE transition 1
iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second); iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false, true); CHK(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
true),
ctxc);
// Build DETUMBLE sequence // Build DETUMBLE sequence
ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, false); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true);
ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false);
ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false);
ss->addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first, CHK(ss->addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
ACS_SEQUENCE_DETUMBLE.first, false, true); ACS_SEQUENCE_SAFE.first, false, true),
ctxc);
} }
void satsystem::buildIdleSequence(Subsystem* ss, ModeListEntry& eh) { void satsystem::buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildIdleSequence"; std::string context = "satsystem::buildIdleSequence";
auto ctxc = context.c_str(); auto ctxc = context.c_str();
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) { ArrayList<ModeListEntry>& sequence) {
eh.setObject(obj); eh.setObject(obj);
eh.setMode(mode); eh.setMode(mode);
eh.setSubmode(submode); eh.setSubmode(submode);
CHK(sequence.insert(eh), ctxc); CHK(sequence.insert(eh), ctxc);
}; };
// Insert Helper Sequence // Insert Helper Sequence
auto ihs = [&]( ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds, auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) { bool checkSuccess) {
eh.setTableId(tableId); eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds); eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess); eh.setCheckSuccess(checkSuccess);
@ -231,23 +245,77 @@ void satsystem::buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
ss->addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true); ss->addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
// Build IDLE transition 0 // Build IDLE transition 0
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_TRANS_0.second);
ss->addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true); ss->addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
// Build IDLE transition 1 // Build IDLE transition 1
iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second); iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TRANS_1.second);
ss->addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true); ss->addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
// Build IDLE sequence // Build IDLE sequence
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, false); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, false); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, false); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, false);
ss->addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ss->addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first,
ACS_SEQUENCE_IDLE.first, false, true); false, true);
}
void satsystem::buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildIdleChargeSequence";
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);
CHK(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);
CHK(sequence.insert(eh), ctxc);
};
// Build IDLE target
iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
ACS_TABLE_IDLE_CHRG_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
CHK(ss->addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true),
ctxc);
// Build IDLE transition 0
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
CHK(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false,
true),
ctxc);
// Build IDLE transition 1
iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
ACS_TABLE_IDLE_CHRG_TRANS_1.second);
CHK(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false,
true),
ctxc);
// Build IDLE sequence
ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TGT.first, 0, true);
ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, 0, false);
CHK(ss->addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first,
ACS_SEQUENCE_SAFE.first, false, true),
ctxc);
} }
void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) { void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
@ -255,15 +323,15 @@ void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
auto ctxc = context.c_str(); auto ctxc = context.c_str();
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) { ArrayList<ModeListEntry>& sequence) {
eh.setObject(obj); eh.setObject(obj);
eh.setMode(mode); eh.setMode(mode);
eh.setSubmode(submode); eh.setSubmode(submode);
CHK(sequence.insert(eh), ctxc); CHK(sequence.insert(eh), ctxc);
}; };
// Insert Helper Sequence // Insert Helper Sequence
auto ihs = [&]( ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds, auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) { bool checkSuccess) {
eh.setTableId(tableId); eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds); eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess); eh.setCheckSuccess(checkSuccess);
@ -277,7 +345,8 @@ void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second); iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
ss->addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true); CHK(ss->addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true),
ctxc);
// Build TARGET PT transition 0 // Build TARGET PT transition 0
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
@ -285,22 +354,27 @@ void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second); iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false, true); CHK(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false,
true),
ctxc);
// Build TARGET PT transition 1 // Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second); iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false, true); CHK(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false,
true),
ctxc);
// Build IDLE sequence // Build IDLE sequence
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, false); ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, true);
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, false); ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false); ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
ss->addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first, CHK(ss->addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
ACS_SEQUENCE_TARGET_PT.first, false, true); ACS_SEQUENCE_IDLE.first, false, true),
ctxc);
} }
void satsystem::checkInsert(ReturnValue_t result, const char* ctx) { void satsystem::checkInsert(ReturnValue_t result, const char* ctx) {
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Insertion failed at " << ctx << std::endl; sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx << std::endl;
} }
} }

1
bsp_q7s/core/acsModeTree.h
View File

@ -9,6 +9,7 @@ void buildOffSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildDetumbleSequence(Subsystem* ss, ModeListEntry& entryHelper); void buildDetumbleSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildSafeSequence(Subsystem* ss, ModeListEntry& entryHelper); void buildSafeSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildIdleSequence(Subsystem* ss, ModeListEntry& entryHelper); void buildIdleSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper); void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper);
void checkInsert(ReturnValue_t result, const char* ctx); void checkInsert(ReturnValue_t result, const char* ctx);

6
mission/controller/controllerdefinitions/AcsControllerDefinitions.h
View File

@ -5,8 +5,10 @@
namespace acs { namespace acs {
enum CtrlModes { OFF = HasModesIF::MODE_OFF, DETUMBLE = 2, SAFE = 3, IDLE = 4, TARGET_PT = 5 }; enum CtrlModes { OFF = HasModesIF::MODE_OFF, SAFE = 1, DETUMBLE = 2, IDLE = 3, TARGET_PT = 4 };
} static constexpr Submode_t IDLE_CHARGE = 1;
} // namespace acs
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */ #endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */