dhb2normal #313

Merged
muellerr merged 19 commits from dhb2normal into develop 2022-11-03 15:36:24 +01:00
56 changed files with 642 additions and 247 deletions
Showing only changes of commit 621966b6f3 - Show all commits

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@ -52,6 +52,7 @@ list yields a list of all related PRs for each release.
- Fix for EM SW: Always create ACS Task - Fix for EM SW: Always create ACS Task
- Added Scex device handler and Scex uart reader - Added Scex device handler and Scex uart reader
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/303 PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/303
- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/228
# [v1.13.0] 24.08.2022 # [v1.13.0] 24.08.2022

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@ -65,6 +65,6 @@ void ObjectFactory::produce(void* args) {
dummy::createDummies(cfg); dummy::createDummies(cfg);
new TemperatureSensorsDummy(); new TemperatureSensorsDummy();
new SusDummy(); new SusDummy();
new ThermalController(objects::THERMAL_CONTROLLER, objects::NO_OBJECT); new ThermalController(objects::THERMAL_CONTROLLER);
new TestTask(objects::TEST_TASK); new TestTask(objects::TEST_TASK);
} }

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@ -31,10 +31,7 @@ xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY; xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
CoreController::CoreController(object_id_t objectId) CoreController::CoreController(object_id_t objectId)
: ExtendedControllerBase(objectId, objects::NO_OBJECT, 5), : ExtendedControllerBase(objectId, 5), opDivider5(5), opDivider10(10), hkSet(this) {
opDivider5(5),
opDivider10(10),
hkSet(this) {
ReturnValue_t result = returnvalue::OK; ReturnValue_t result = returnvalue::OK;
try { try {
result = initWatchdogFifo(); result = initWatchdogFifo();

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@ -184,6 +184,10 @@ void initmission::initTasks() {
initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS); initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
} }
#endif #endif
result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
if (result != returnvalue::OK) {
initmission::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
}
#if OBSW_ADD_RTD_DEVICES == 1 #if OBSW_ADD_RTD_DEVICES == 1
PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask( PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
@ -192,6 +196,7 @@ void initmission::initTasks() {
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF); initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
} }
PeriodicTaskIF* tcsTask = factory->createPeriodicTask( PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
"TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc); "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = { std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {

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@ -1,7 +1,5 @@
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include <linux/devices/ScexUartReader.h>
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h" #include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/callbacks/gnssCallback.h" #include "bsp_q7s/callbacks/gnssCallback.h"
@ -23,6 +21,7 @@
#include "linux/callbacks/gpioCallbacks.h" #include "linux/callbacks/gpioCallbacks.h"
#include "linux/csp/CspComIF.h" #include "linux/csp/CspComIF.h"
#include "linux/devices/GPSHyperionLinuxController.h" #include "linux/devices/GPSHyperionLinuxController.h"
#include "linux/devices/ScexUartReader.h"
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h" #include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h" #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "linux/devices/ploc/PlocMPSoCHandler.h" #include "linux/devices/ploc/PlocMPSoCHandler.h"
@ -37,12 +36,15 @@
#include "linux/ipcore/Ptme.h" #include "linux/ipcore/Ptme.h"
#include "linux/ipcore/PtmeConfig.h" #include "linux/ipcore/PtmeConfig.h"
#include "mission/csp/CspCookie.h" #include "mission/csp/CspCookie.h"
#include "mission/system/RwAssembly.h"
#include "mission/system/fdir/AcsBoardFdir.h" #include "mission/system/fdir/AcsBoardFdir.h"
#include "mission/system/fdir/GomspacePowerFdir.h" #include "mission/system/fdir/GomspacePowerFdir.h"
#include "mission/system/fdir/RtdFdir.h" #include "mission/system/fdir/RtdFdir.h"
#include "mission/system/fdir/SusFdir.h" #include "mission/system/fdir/SusFdir.h"
#include "mission/system/fdir/SyrlinksFdir.h" #include "mission/system/fdir/SyrlinksFdir.h"
#include "mission/system/objects/AcsSubsystem.h"
#include "mission/system/objects/RwAssembly.h"
#include "mission/system/objects/TcsBoardAssembly.h"
#include "mission/system/tree/acsModeTree.h"
#include "tmtc/pusIds.h" #include "tmtc/pusIds.h"
#if OBSW_TEST_LIBGPIOD == 1 #if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h" #include "linux/boardtest/LibgpiodTest.h"
@ -89,9 +91,11 @@
#include "mission/devices/devicedefinitions/RwDefinitions.h" #include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h" #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h" #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
#include "mission/system/AcsBoardAssembly.h"
#include "mission/system/objects/AcsBoardAssembly.h"
#include "mission/tmtc/CcsdsIpCoreHandler.h" #include "mission/tmtc/CcsdsIpCoreHandler.h"
#include "mission/tmtc/TmFunnelHandler.h" #include "mission/tmtc/TmFunnelHandler.h"
#include "mission/tmtc/VirtualChannel.h" #include "mission/tmtc/VirtualChannel.h"
ResetArgs RESET_ARGS_GNSS; ResetArgs RESET_ARGS_GNSS;
@ -228,6 +232,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
PowerSwitchIF* pwrSwitcher) { PowerSwitchIF* pwrSwitcher) {
using namespace gpio; using namespace gpio;
GpioCookie* gpioCookieAcsBoard = new GpioCookie(); GpioCookie* gpioCookieAcsBoard = new GpioCookie();
std::vector<std::reference_wrapper<DeviceHandlerBase>> assemblyChildren;
std::stringstream consumer; std::stringstream consumer;
GpiodRegularByLineName* gpio = nullptr; GpiodRegularByLineName* gpio = nullptr;
@ -332,11 +337,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
SpiCookie* spiCookie = SpiCookie* spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE, new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, auto mgmLis3Handler0 = new MgmLIS3MDLHandler(
spiCookie, spi::LIS3_TRANSITION_DELAY); objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER); fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
mgmLis3Handler->setCustomFdir(fdir); mgmLis3Handler0->setCustomFdir(fdir);
static_cast<void>(mgmLis3Handler); assemblyChildren.push_back(*mgmLis3Handler0);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
mgmLis3Handler->setStartUpImmediately(); mgmLis3Handler->setStartUpImmediately();
mgmLis3Handler->setToGoToNormalMode(true); mgmLis3Handler->setToGoToNormalMode(true);
@ -347,13 +352,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
spiCookie = spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE, new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler = auto mgmRm3100Handler1 =
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
spi::RM3100_TRANSITION_DELAY); spi::RM3100_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER); fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
mgmRm3100Handler->setCustomFdir(fdir); mgmRm3100Handler1->setCustomFdir(fdir);
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS); assemblyChildren.push_back(*mgmRm3100Handler1);
static_cast<void>(mgmRm3100Handler);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
mgmRm3100Handler->setToGoToNormalMode(true); mgmRm3100Handler->setToGoToNormalMode(true);
@ -364,12 +368,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
spiCookie = spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE, new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, auto* mgmLis3Handler2 = new MgmLIS3MDLHandler(
spiCookie, spi::LIS3_TRANSITION_DELAY); objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER); fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
mgmLis3Handler->setCustomFdir(fdir); mgmLis3Handler2->setCustomFdir(fdir);
mgmLis3Handler->setParent(objects::ACS_BOARD_ASS); assemblyChildren.push_back(*mgmLis3Handler2);
static_cast<void>(mgmLis3Handler);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
mgmLis3Handler->setStartUpImmediately(); mgmLis3Handler->setStartUpImmediately();
mgmLis3Handler->setToGoToNormalMode(true); mgmLis3Handler->setToGoToNormalMode(true);
@ -380,11 +383,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
spiCookie = spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE, new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, auto* mgmRm3100Handler3 =
spiCookie, spi::RM3100_TRANSITION_DELAY); new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
spi::RM3100_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER); fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
mgmRm3100Handler->setCustomFdir(fdir); mgmRm3100Handler3->setCustomFdir(fdir);
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS); assemblyChildren.push_back(*mgmRm3100Handler3);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
mgmRm3100Handler->setToGoToNormalMode(true); mgmRm3100Handler->setToGoToNormalMode(true);
@ -402,8 +406,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
ADIS1650X::Type::ADIS16505); ADIS1650X::Type::ADIS16505);
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER); fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir); adisHandler->setCustomFdir(fdir);
adisHandler->setParent(objects::ACS_BOARD_ASS); assemblyChildren.push_back(*adisHandler);
static_cast<void>(adisHandler);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
adisHandler->setStartUpImmediately(); adisHandler->setStartUpImmediately();
adisHandler->setToGoToNormalModeImmediately(); adisHandler->setToGoToNormalModeImmediately();
@ -414,12 +417,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
// Gyro 1 Side A // Gyro 1 Side A
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE, spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto gyroL3gHandler = new GyroHandlerL3GD20H( auto gyroL3gHandler1 = new GyroHandlerL3GD20H(
objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY); objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER); fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
gyroL3gHandler->setCustomFdir(fdir); gyroL3gHandler1->setCustomFdir(fdir);
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS); assemblyChildren.push_back(*gyroL3gHandler1);
static_cast<void>(gyroL3gHandler);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
gyroL3gHandler->setToGoToNormalMode(true); gyroL3gHandler->setToGoToNormalMode(true);
@ -435,7 +437,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
spiCookie, ADIS1650X::Type::ADIS16505); spiCookie, ADIS1650X::Type::ADIS16505);
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER); fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir); adisHandler->setCustomFdir(fdir);
adisHandler->setParent(objects::ACS_BOARD_ASS); assemblyChildren.push_back(*adisHandler);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
adisHandler->setStartUpImmediately(); adisHandler->setStartUpImmediately();
adisHandler->setToGoToNormalModeImmediately(); adisHandler->setToGoToNormalModeImmediately();
@ -443,11 +445,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
// Gyro 3 Side B // Gyro 3 Side B
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE, spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, auto gyroL3gHandler3 = new GyroHandlerL3GD20H(
spiCookie, spi::L3G_TRANSITION_DELAY); objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER); fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
gyroL3gHandler->setCustomFdir(fdir); gyroL3gHandler3->setCustomFdir(fdir);
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS); assemblyChildren.push_back(*gyroL3gHandler3);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
gyroL3gHandler->setToGoToNormalMode(true); gyroL3gHandler->setToGoToNormalMode(true);
@ -464,14 +466,22 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
auto gpsCtrl = auto gpsCtrl =
new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps); new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS); gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
AcsBoardHelper acsBoardHelper = AcsBoardHelper( AcsBoardHelper acsBoardHelper = AcsBoardHelper(
objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER, objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER, objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER); objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, auto acsAss =
acsBoardHelper, gpioComIF); new AcsBoardAssembly(objects::ACS_BOARD_ASS, pwrSwitcher, acsBoardHelper, gpioComIF);
static_cast<void>(acsAss); static_cast<void>(acsAss);
for (auto& assChild : assemblyChildren) {
ReturnValue_t result = assChild.get().connectModeTreeParent(*acsAss);
if (result != returnvalue::OK) {
sif::error << "Connecting assembly for ACS board component " << assChild.get().getObjectId()
<< " failed" << std::endl;
}
}
gpsCtrl->connectModeTreeParent(*acsAss);
acsAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */ #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
} }
@ -684,9 +694,16 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
} }
RwHelper rwHelper(rwIds); RwHelper rwHelper(rwIds);
auto* rwAss = new RwAssembly(objects::RW_ASS, objects::NO_OBJECT, pwrSwitcher, auto* rwAss =
pcdu::Switches::PDU2_CH2_RW_5V, rwHelper); new RwAssembly(objects::RW_ASS, pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
static_cast<void>(rwAss); for (uint8_t idx = 0; idx < rws.size(); idx++) {
ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
if (result != returnvalue::OK) {
sif::error << "Connecting RW " << static_cast<int>(idx) << " to RW assembly failed"
<< std::endl;
}
}
rwAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
#endif /* OBSW_ADD_RW == 1 */ #endif /* OBSW_ADD_RW == 1 */
} }
@ -882,6 +899,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V); strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
starTracker->setPowerSwitcher(pwrSwitcher); starTracker->setPowerSwitcher(pwrSwitcher);
starTracker->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
} }
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) { void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
@ -890,6 +908,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie, auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
pcdu::Switches::PDU1_CH3_MGT_5V); pcdu::Switches::PDU1_CH3_MGT_5V);
imtqHandler->setPowerSwitcher(pwrSwitcher); imtqHandler->setPowerSwitcher(pwrSwitcher);
imtqHandler->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
static_cast<void>(imtqHandler); static_cast<void>(imtqHandler);
#if OBSW_TEST_IMTQ == 1 #if OBSW_TEST_IMTQ == 1
imtqHandler->setStartUpImmediately(); imtqHandler->setStartUpImmediately();

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@ -11,6 +11,7 @@
#include "linux/ObjectFactory.h" #include "linux/ObjectFactory.h"
#include "linux/callbacks/gpioCallbacks.h" #include "linux/callbacks/gpioCallbacks.h"
#include "mission/core/GenericFactory.h" #include "mission/core/GenericFactory.h"
#include "mission/system/tree/acsModeTree.h"
void ObjectFactory::produce(void* args) { void ObjectFactory::produce(void* args) {
ObjectFactory::setStatics(); ObjectFactory::setStatics();
@ -81,5 +82,6 @@ void ObjectFactory::produce(void* args) {
createMiscComponents(); createMiscComponents();
createThermalController(); createThermalController();
createAcsController(); createAcsController(true);
satsystem::initAcsSubsystem(objects::NO_OBJECT);
} }

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@ -127,6 +127,8 @@ enum commonObjects : uint32_t {
SUS_BOARD_ASS = 0x73000002, SUS_BOARD_ASS = 0x73000002,
TCS_BOARD_ASS = 0x73000003, TCS_BOARD_ASS = 0x73000003,
RW_ASS = 0x73000004, RW_ASS = 0x73000004,
ACS_SUBSYSTEM = 0x73010001,
EIVE_SYSTEM = 0x73010000,
CFDP_HANDLER = 0x73000005, CFDP_HANDLER = 0x73000005,
CFDP_DISTRIBUTOR = 0x73000006, CFDP_DISTRIBUTOR = 0x73000006,
TM_FUNNEL = 0x73000100, TM_FUNNEL = 0x73000100,

2
fsfw

@ -1 +1 @@
Subproject commit 033676ad3b5136c4e2fb9d41309d2f0883f5f2de Subproject commit a38279f8131370bda6ba21af64aef13689da8526

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@ -181,15 +181,15 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h 12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h 12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h 12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/AcsBoardAssembly.h 12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/objects/AcsBoardAssembly.h
12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/AcsBoardAssembly.h 12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/objects/AcsBoardAssembly.h
12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/AcsBoardAssembly.h 12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/objects/AcsBoardAssembly.h
12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/AcsBoardAssembly.h 12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/AcsBoardAssembly.h
12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/SusAssembly.h 12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/objects/SusAssembly.h
12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/SusAssembly.h 12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/objects/SusAssembly.h
12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/SusAssembly.h 12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/objects/SusAssembly.h
12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/SusAssembly.h 12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/SusAssembly.h
13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/TcsBoardAssembly.h 13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/objects/TcsBoardAssembly.h
13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h 13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h 13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h 13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
181 12709 0x31a5 I_MPA_OUT_OF_BOUNDS MEDIUM P1: 0 -> too low, 1 -> too high P2: Float value mission/devices/PayloadPcduHandler.h
182 12710 0x31a6 U_HPA_OUT_OF_BOUNDS MEDIUM P1: 0 -> too low, 1 -> too high P2: Float value mission/devices/PayloadPcduHandler.h
183 12711 0x31a7 I_HPA_OUT_OF_BOUNDS MEDIUM P1: 0 -> too low, 1 -> too high P2: Float value mission/devices/PayloadPcduHandler.h
184 12800 0x3200 TRANSITION_OTHER_SIDE_FAILED HIGH mission/system/objects/AcsBoardAssembly.h
185 12801 0x3201 NOT_ENOUGH_DEVICES_DUAL_MODE HIGH mission/system/objects/AcsBoardAssembly.h
186 12802 0x3202 POWER_STATE_MACHINE_TIMEOUT MEDIUM mission/system/objects/AcsBoardAssembly.h
187 12803 0x3203 SIDE_SWITCH_TRANSITION_NOT_ALLOWED LOW Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination mission/system/objects/AcsBoardAssembly.h
188 12900 0x3264 TRANSITION_OTHER_SIDE_FAILED HIGH mission/system/objects/SusAssembly.h
189 12901 0x3265 NOT_ENOUGH_DEVICES_DUAL_MODE HIGH mission/system/objects/SusAssembly.h
190 12902 0x3266 POWER_STATE_MACHINE_TIMEOUT MEDIUM mission/system/objects/SusAssembly.h
191 12903 0x3267 SIDE_SWITCH_TRANSITION_NOT_ALLOWED LOW Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination mission/system/objects/SusAssembly.h
192 13000 0x32c8 CHILDREN_LOST_MODE MEDIUM mission/system/objects/TcsBoardAssembly.h
193 13100 0x332c GPS_FIX_CHANGE INFO Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix mission/devices/devicedefinitions/GPSDefinitions.h
194 13200 0x3390 P60_BOOT_COUNT INFO P60 boot count is broadcasted once at SW startup. P1: Boot count mission/devices/P60DockHandler.h
195 13201 0x3391 BATT_MODE INFO Battery mode is broadcasted at startup. P1: Mode mission/devices/P60DockHandler.h

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@ -136,5 +136,7 @@
0x73000100;TM_FUNNEL 0x73000100;TM_FUNNEL
0x73000101;PUS_TM_FUNNEL 0x73000101;PUS_TM_FUNNEL
0x73000102;CFDP_TM_FUNNEL 0x73000102;CFDP_TM_FUNNEL
0x73010000;EIVE_SYSTEM
0x73010001;ACS_SUBSYSTEM
0x73500000;CCSDS_IP_CORE_BRIDGE 0x73500000;CCSDS_IP_CORE_BRIDGE
0xFFFFFFFF;NO_OBJECT 0xFFFFFFFF;NO_OBJECT

1 0x00005060 P60DOCK_TEST_TASK
136 0x73000100 TM_FUNNEL
137 0x73000101 PUS_TM_FUNNEL
138 0x73000102 CFDP_TM_FUNNEL
139 0x73010000 EIVE_SYSTEM
140 0x73010001 ACS_SUBSYSTEM
141 0x73010000 0x73500000 EIVE_SYSTEM CCSDS_IP_CORE_BRIDGE
142 0x73010001 0xFFFFFFFF ACS_SUBSYSTEM NO_OBJECT

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@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 233 translations. * @brief Auto-generated event translation file. Contains 233 translations.
* @details * @details
* Generated on: 2022-10-27 09:03:07 * Generated on: 2022-10-27 09:17:50
*/ */
#include "translateEvents.h" #include "translateEvents.h"

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@ -1,8 +1,8 @@
/** /**
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 140 translations. * Contains 142 translations.
* Generated on: 2022-10-27 09:03:07 * Generated on: 2022-10-27 09:17:50
*/ */
#include "translateObjects.h" #include "translateObjects.h"
@ -144,6 +144,8 @@ const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
const char *TM_FUNNEL_STRING = "TM_FUNNEL"; const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL"; const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL"; const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE"; const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
const char *NO_OBJECT_STRING = "NO_OBJECT"; const char *NO_OBJECT_STRING = "NO_OBJECT";
@ -425,6 +427,10 @@ const char *translateObject(object_id_t object) {
return PUS_TM_FUNNEL_STRING; return PUS_TM_FUNNEL_STRING;
case 0x73000102: case 0x73000102:
return CFDP_TM_FUNNEL_STRING; return CFDP_TM_FUNNEL_STRING;
case 0x73010000:
return EIVE_SYSTEM_STRING;
case 0x73010001:
return ACS_SUBSYSTEM_STRING;
case 0x73500000: case 0x73500000:
return CCSDS_IP_CORE_BRIDGE_STRING; return CCSDS_IP_CORE_BRIDGE_STRING;
case 0xFFFFFFFF: case 0xFFFFFFFF:

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@ -1,6 +1,7 @@
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include <fsfw/power/PowerSwitchIF.h> #include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw_hal/common/gpio/GpioCookie.h> #include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/common/gpio/GpioIF.h> #include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h> #include <fsfw_hal/common/gpio/gpioDefinitions.h>
@ -15,10 +16,11 @@
#include <mission/devices/Max31865PT1000Handler.h> #include <mission/devices/Max31865PT1000Handler.h>
#include <mission/devices/ScexDeviceHandler.h> #include <mission/devices/ScexDeviceHandler.h>
#include <mission/devices/SusHandler.h> #include <mission/devices/SusHandler.h>
#include <mission/system/SusAssembly.h>
#include <mission/system/TcsBoardAssembly.h>
#include <mission/system/fdir/RtdFdir.h> #include <mission/system/fdir/RtdFdir.h>
#include <mission/system/fdir/SusFdir.h> #include <mission/system/fdir/SusFdir.h>
#include <mission/system/objects/SusAssembly.h>
#include <mission/system/objects/TcsBoardAssembly.h>
#include "mission/system/tree/acsModeTree.h"
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "devConf.h" #include "devConf.h"
@ -26,6 +28,7 @@
#include "devices/gpioIds.h" #include "devices/gpioIds.h"
#include "eive/definitions.h" #include "eive/definitions.h"
void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF, void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF* pwrSwitcher, std::string spiDev) { PowerSwitchIF* pwrSwitcher, std::string spiDev) {
using namespace gpio; using namespace gpio;
@ -79,7 +82,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
susHandlers[0] = susHandlers[0] =
new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF); fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
susHandlers[0]->setCustomFdir(fdir); susHandlers[0]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE,
@ -87,7 +89,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
susHandlers[1] = susHandlers[1] =
new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB); fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
susHandlers[1]->setCustomFdir(fdir); susHandlers[1]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE,
@ -95,7 +96,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
susHandlers[2] = susHandlers[2] =
new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB); fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
susHandlers[2]->setCustomFdir(fdir); susHandlers[2]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE,
@ -103,7 +103,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
susHandlers[3] = susHandlers[3] =
new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF); fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
susHandlers[3]->setCustomFdir(fdir); susHandlers[3]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE,
@ -111,7 +110,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
susHandlers[4] = susHandlers[4] =
new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF); fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
susHandlers[4]->setCustomFdir(fdir); susHandlers[4]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE,
@ -119,7 +117,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
susHandlers[5] = susHandlers[5] =
new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB); fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
susHandlers[5]->setCustomFdir(fdir); susHandlers[5]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
@ -127,7 +124,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
susHandlers[6] = susHandlers[6] =
new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF); fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
susHandlers[6]->setCustomFdir(fdir); susHandlers[6]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE,
@ -135,7 +131,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
susHandlers[7] = susHandlers[7] =
new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB); fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
susHandlers[7]->setCustomFdir(fdir); susHandlers[7]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE,
@ -143,7 +138,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
susHandlers[8] = susHandlers[8] =
new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB); fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
susHandlers[8]->setCustomFdir(fdir); susHandlers[8]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE,
@ -151,7 +145,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
susHandlers[9] = susHandlers[9] =
new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF); fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
susHandlers[9]->setCustomFdir(fdir); susHandlers[9]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE,
@ -159,7 +152,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
susHandlers[10] = susHandlers[10] =
new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF); fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
susHandlers[10]->setCustomFdir(fdir); susHandlers[10]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE,
@ -167,11 +159,24 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
susHandlers[11] = susHandlers[11] =
new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB); fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
susHandlers[11]->setCustomFdir(fdir); susHandlers[11]->setCustomFdir(fdir);
std::array<object_id_t, 12> susIds = {
objects::SUS_0_N_LOC_XFYFZM_PT_XF, objects::SUS_1_N_LOC_XBYFZM_PT_XB,
objects::SUS_2_N_LOC_XFYBZB_PT_YB, objects::SUS_3_N_LOC_XFYBZF_PT_YF,
objects::SUS_4_N_LOC_XMYFZF_PT_ZF, objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
objects::SUS_6_R_LOC_XFYBZM_PT_XF, objects::SUS_7_R_LOC_XBYBZM_PT_XB,
objects::SUS_8_R_LOC_XBYBZB_PT_YB, objects::SUS_9_R_LOC_XBYBZB_PT_YF,
objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::SUS_11_R_LOC_XBYMZB_PT_ZB};
SusAssHelper susAssHelper = SusAssHelper(susIds);
auto susAss = new SusAssembly(objects::SUS_BOARD_ASS, pwrSwitcher, susAssHelper);
for (auto& sus : susHandlers) { for (auto& sus : susHandlers) {
if (sus != nullptr) { if (sus != nullptr) {
ReturnValue_t result = sus->connectModeTreeParent(*susAss);
if (result != returnvalue::OK) {
sif::error << "Connecting SUS " << sus->getObjectId() << " to SUS assembly failed"
<< std::endl;
}
#if OBSW_TEST_SUS == 1 #if OBSW_TEST_SUS == 1
sus->setStartUpImmediately(); sus->setStartUpImmediately();
sus->setToGoToNormalMode(true); sus->setToGoToNormalMode(true);
@ -181,17 +186,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
#endif #endif
} }
} }
std::array<object_id_t, 12> susIds = { susAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
objects::SUS_0_N_LOC_XFYFZM_PT_XF, objects::SUS_1_N_LOC_XBYFZM_PT_XB,
objects::SUS_2_N_LOC_XFYBZB_PT_YB, objects::SUS_3_N_LOC_XFYBZF_PT_YF,
objects::SUS_4_N_LOC_XMYFZF_PT_ZF, objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
objects::SUS_6_R_LOC_XFYBZM_PT_XF, objects::SUS_7_R_LOC_XBYBZM_PT_XB,
objects::SUS_8_R_LOC_XBYBZB_PT_YB, objects::SUS_9_R_LOC_XBYBZB_PT_YF,
objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::SUS_11_R_LOC_XBYMZB_PT_ZB};
SusAssHelper susAssHelper = SusAssHelper(susIds);
auto susAss =
new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
static_cast<void>(susAss);
#endif /* OBSW_ADD_SUN_SENSORS == 1 */ #endif /* OBSW_ADD_SUN_SENSORS == 1 */
} }
@ -293,6 +288,11 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
std::array<SpiCookie*, NUM_RTDS> rtdCookies = {}; std::array<SpiCookie*, NUM_RTDS> rtdCookies = {};
std::array<Max31865EiveHandler*, NUM_RTDS> rtds = {}; std::array<Max31865EiveHandler*, NUM_RTDS> rtds = {};
RtdFdir* rtdFdir = nullptr; RtdFdir* rtdFdir = nullptr;
TcsBoardHelper helper(rtdInfos);
TcsBoardAssembly* tcsBoardAss = new TcsBoardAssembly(
objects::TCS_BOARD_ASS, pwrSwitcher, pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
static_cast<void>(tcsBoardAss);
// Create special low level reader communication interface // Create special low level reader communication interface
new Max31865RtdReader(objects::SPI_RTD_COM_IF, comIF, gpioComIF); new Max31865RtdReader(objects::SPI_RTD_COM_IF, comIF, gpioComIF);
for (uint8_t idx = 0; idx < NUM_RTDS; idx++) { for (uint8_t idx = 0; idx < NUM_RTDS; idx++) {
@ -304,7 +304,11 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
rtds[idx] = rtds[idx] =
new Max31865EiveHandler(rtdInfos[idx].first, objects::SPI_RTD_COM_IF, rtdLowLevelCookie); new Max31865EiveHandler(rtdInfos[idx].first, objects::SPI_RTD_COM_IF, rtdLowLevelCookie);
rtds[idx]->setDeviceInfo(idx, rtdInfos[idx].second); rtds[idx]->setDeviceInfo(idx, rtdInfos[idx].second);
rtds[idx]->setParent(objects::TCS_BOARD_ASS); ReturnValue_t result = rtds[idx]->connectModeTreeParent(*tcsBoardAss);
if (result != returnvalue::OK) {
sif::error << "Connecting RTD " << static_cast<int>(idx) << " to RTD Assembly failed"
<< std::endl;
}
rtdFdir = new RtdFdir(rtdInfos[idx].first); rtdFdir = new RtdFdir(rtdInfos[idx].first);
rtds[idx]->setCustomFdir(rtdFdir); rtds[idx]->setCustomFdir(rtdFdir);
#if OBSW_DEBUG_RTD == 1 #if OBSW_DEBUG_RTD == 1
@ -316,11 +320,6 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
#endif #endif
} }
TcsBoardHelper helper(rtdInfos);
TcsBoardAssembly* tcsBoardAss =
new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
static_cast<void>(tcsBoardAss);
#endif // OBSW_ADD_RTD_DEVICES == 1 #endif // OBSW_ADD_RTD_DEVICES == 1
} }
@ -341,10 +340,16 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
} }
void ObjectFactory::createThermalController() { void ObjectFactory::createThermalController() {
new ThermalController(objects::THERMAL_CONTROLLER, objects::NO_OBJECT); new ThermalController(objects::THERMAL_CONTROLLER);
} }
void ObjectFactory::createAcsController() { new AcsController(objects::ACS_CONTROLLER); } AcsController* ObjectFactory::createAcsController(bool connectSubsystem) {
auto acsCtrl = new AcsController(objects::ACS_CONTROLLER);
if (connectSubsystem) {
acsCtrl->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
}
return acsCtrl;
}
void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) { void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
if (result != returnvalue::OK) { if (result != returnvalue::OK) {

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@ -14,6 +14,7 @@
class GpioIF; class GpioIF;
class SpiComIF; class SpiComIF;
class PowerSwitchIF; class PowerSwitchIF;
class AcsController;
namespace ObjectFactory { namespace ObjectFactory {
@ -29,7 +30,7 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
void gpioChecker(ReturnValue_t result, std::string output); void gpioChecker(ReturnValue_t result, std::string output);
void createThermalController(); void createThermalController();
void createAcsController(); AcsController* createAcsController(bool connectSubsystem);
void addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler, PusTmFunnel& pusFunnel, void addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler, PusTmFunnel& pusFunnel,
CfdpTmFunnel& cfdpFunnel); CfdpTmFunnel& cfdpFunnel);

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@ -18,9 +18,7 @@
GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId, GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps) bool debugHyperionGps)
: ExtendedControllerBase(objectId, objects::NO_OBJECT), : ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {
gpsSet(this),
debugHyperionGps(debugHyperionGps) {
timeUpdateCd.resetTimer(); timeUpdateCd.resetTimer();
} }

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@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 233 translations. * @brief Auto-generated event translation file. Contains 233 translations.
* @details * @details
* Generated on: 2022-10-27 09:03:07 * Generated on: 2022-10-27 09:17:50
*/ */
#include "translateEvents.h" #include "translateEvents.h"

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@ -1,8 +1,8 @@
/** /**
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 140 translations. * Contains 142 translations.
* Generated on: 2022-10-27 09:03:07 * Generated on: 2022-10-27 09:17:50
*/ */
#include "translateObjects.h" #include "translateObjects.h"
@ -144,6 +144,8 @@ const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
const char *TM_FUNNEL_STRING = "TM_FUNNEL"; const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL"; const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL"; const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE"; const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
const char *NO_OBJECT_STRING = "NO_OBJECT"; const char *NO_OBJECT_STRING = "NO_OBJECT";
@ -425,6 +427,10 @@ const char *translateObject(object_id_t object) {
return PUS_TM_FUNNEL_STRING; return PUS_TM_FUNNEL_STRING;
case 0x73000102: case 0x73000102:
return CFDP_TM_FUNNEL_STRING; return CFDP_TM_FUNNEL_STRING;
case 0x73010000:
return EIVE_SYSTEM_STRING;
case 0x73010001:
return ACS_SUBSYSTEM_STRING;
case 0x73500000: case 0x73500000:
return CCSDS_IP_CORE_BRIDGE_STRING; return CCSDS_IP_CORE_BRIDGE_STRING;
case 0xFFFFFFFF: case 0xFFFFFFFF:

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@ -5,7 +5,7 @@
#include "mission/devices/torquer.h" #include "mission/devices/torquer.h"
AcsController::AcsController(object_id_t objectId) AcsController::AcsController(object_id_t objectId)
: ExtendedControllerBase(objectId, objects::NO_OBJECT), mgmData(this) {} : ExtendedControllerBase(objectId), mgmData(this) {}
ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) { ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
return returnvalue::OK; return returnvalue::OK;

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@ -14,8 +14,8 @@
#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h> #include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
#include <objects/systemObjectList.h> #include <objects/systemObjectList.h>
ThermalController::ThermalController(object_id_t objectId, object_id_t parentId) ThermalController::ThermalController(object_id_t objectId)
: ExtendedControllerBase(objectId, parentId), : ExtendedControllerBase(objectId),
sensorTemperatures(this), sensorTemperatures(this),
susTemperatures(this), susTemperatures(this),
deviceTemperatures(this), deviceTemperatures(this),

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@ -12,7 +12,7 @@ class ThermalController : public ExtendedControllerBase {
public: public:
static const uint16_t INVALID_TEMPERATURE = 999; static const uint16_t INVALID_TEMPERATURE = 999;
ThermalController(object_id_t objectId, object_id_t parentId); ThermalController(object_id_t objectId);
ReturnValue_t initialize() override; ReturnValue_t initialize() override;

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@ -0,0 +1,14 @@
#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
#include <fsfw/modes/HasModesIF.h>
namespace acs {
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_ */

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@ -10,8 +10,8 @@
#include "fsfw_hal/common/gpio/GpioIF.h" #include "fsfw_hal/common/gpio/GpioIF.h"
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h" #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
#include "mission/memory/SdCardMountedIF.h" #include "mission/memory/SdCardMountedIF.h"
#include "mission/system/DualLanePowerStateMachine.h" #include "mission/system/objects/DualLanePowerStateMachine.h"
#include "mission/system/definitions.h" #include "mission/system/objects/definitions.h"
#ifdef FSFW_OSAL_LINUX #ifdef FSFW_OSAL_LINUX
class SpiComIF; class SpiComIF;

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@ -1,5 +0,0 @@
#include "AcsSubsystem.h"
AcsSubsystem::AcsSubsystem(object_id_t setObjectId, object_id_t parent,
uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
: Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}

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@ -1,15 +1,3 @@
target_sources( add_subdirectory(objects)
${LIB_EIVE_MISSION} add_subdirectory(tree)
PRIVATE EiveSystem.cpp
AcsSubsystem.cpp
ComSubsystem.cpp
PayloadSubsystem.cpp
AcsBoardAssembly.cpp
RwAssembly.cpp
SusAssembly.cpp
DualLanePowerStateMachine.cpp
PowerStateMachineBase.cpp
DualLaneAssemblyBase.cpp
TcsBoardAssembly.cpp)
add_subdirectory(fdir) add_subdirectory(fdir)

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@ -1,5 +0,0 @@
#include "ComSubsystem.h"
ComSubsystem::ComSubsystem(object_id_t setObjectId, object_id_t parent,
uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
: Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}

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@ -1,5 +0,0 @@
#include "EiveSystem.h"
EiveSystem::EiveSystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}

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@ -1,5 +0,0 @@
#include "PayloadSubsystem.h"
PayloadSubsystem::PayloadSubsystem(object_id_t setObjectId, object_id_t parent,
uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
: Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}

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@ -6,11 +6,10 @@
#include "OBSWConfig.h" #include "OBSWConfig.h"
AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId, AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, PowerSwitchIF* switcher,
PowerSwitchIF* switcher, AcsBoardHelper helper, GpioIF* gpioIF) AcsBoardHelper helper, GpioIF* gpioIF)
: DualLaneAssemblyBase(objectId, parentId, switcher, SWITCH_A, SWITCH_B, : DualLaneAssemblyBase(objectId, switcher, SWITCH_A, SWITCH_B, POWER_STATE_MACHINE_TIMEOUT,
POWER_STATE_MACHINE_TIMEOUT, SIDE_SWITCH_TRANSITION_NOT_ALLOWED, SIDE_SWITCH_TRANSITION_NOT_ALLOWED, TRANSITION_OTHER_SIDE_FAILED),
TRANSITION_OTHER_SIDE_FAILED),
helper(helper), helper(helper),
gpioIF(gpioIF) { gpioIF(gpioIF) {
if (switcher == nullptr) { if (switcher == nullptr) {
@ -275,42 +274,4 @@ void AcsBoardAssembly::refreshHelperModes() {
} }
} }
ReturnValue_t AcsBoardAssembly::initialize() { ReturnValue_t AcsBoardAssembly::initialize() { return AssemblyBase::initialize(); }
ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.gyro1L3gIdSideA);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.gyro2AdisIdSideB);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.gyro3L3gIdSideB);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.mgm0Lis3IdSideA);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.mgm1Rm3100IdSideA);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.mgm2Lis3IdSideB);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.mgm3Rm3100IdSideB);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.gpsId);
if (result != returnvalue::OK) {
return result;
}
return AssemblyBase::initialize();
}

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@ -94,8 +94,8 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9; static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher, AcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, AcsBoardHelper helper,
AcsBoardHelper helper, GpioIF* gpioIF); GpioIF* gpioIF);
/** /**
* In dual mode, the A side or the B side GPS device can be used, but not both. * In dual mode, the A side or the B side GPS device can be used, but not both.

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@ -0,0 +1,5 @@
#include "AcsSubsystem.h"
AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}

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@ -5,8 +5,7 @@
class AcsSubsystem : public Subsystem { class AcsSubsystem : public Subsystem {
public: public:
AcsSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences, AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
uint32_t maxNumberOfTables);
private: private:
}; };

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@ -0,0 +1,13 @@
target_sources(
${LIB_EIVE_MISSION}
PRIVATE EiveSystem.cpp
AcsSubsystem.cpp
ComSubsystem.cpp
PayloadSubsystem.cpp
AcsBoardAssembly.cpp
SusAssembly.cpp
RwAssembly.cpp
DualLanePowerStateMachine.cpp
PowerStateMachineBase.cpp
DualLaneAssemblyBase.cpp
TcsBoardAssembly.cpp)

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@ -0,0 +1,5 @@
#include "ComSubsystem.h"
ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}

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@ -5,8 +5,7 @@
class ComSubsystem : public Subsystem { class ComSubsystem : public Subsystem {
public: public:
ComSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences, ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
uint32_t maxNumberOfTables);
private: private:
}; };

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@ -4,12 +4,11 @@
#include "OBSWConfig.h" #include "OBSWConfig.h"
DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId, DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
PowerSwitchIF* pwrSwitcher, pcdu::Switches switch1, pcdu::Switches switch1, pcdu::Switches switch2,
pcdu::Switches switch2, Event pwrTimeoutEvent, Event pwrTimeoutEvent, Event sideSwitchNotAllowedEvent,
Event sideSwitchNotAllowedEvent,
Event transitionOtherSideFailedEvent) Event transitionOtherSideFailedEvent)
: AssemblyBase(objectId, parentId, 20), : AssemblyBase(objectId, 20),
pwrStateMachine(switch1, switch2, pwrSwitcher), pwrStateMachine(switch1, switch2, pwrSwitcher),
pwrTimeoutEvent(pwrTimeoutEvent), pwrTimeoutEvent(pwrTimeoutEvent),
sideSwitchNotAllowedEvent(sideSwitchNotAllowedEvent), sideSwitchNotAllowedEvent(sideSwitchNotAllowedEvent),

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@ -2,7 +2,7 @@
#define MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_ #define MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
#include <fsfw/devicehandlers/AssemblyBase.h> #include <fsfw/devicehandlers/AssemblyBase.h>
#include <mission/system/DualLanePowerStateMachine.h> #include <mission/system/objects/DualLanePowerStateMachine.h>
/** /**
* @brief Encapsulates assemblies which are also responsible for dual lane power switching * @brief Encapsulates assemblies which are also responsible for dual lane power switching
@ -18,8 +18,8 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
static constexpr UniqueEventId_t POWER_STATE_MACHINE_TIMEOUT_ID = 2; static constexpr UniqueEventId_t POWER_STATE_MACHINE_TIMEOUT_ID = 2;
static constexpr UniqueEventId_t SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID = 3; static constexpr UniqueEventId_t SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID = 3;
DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher, DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher, pcdu::Switches switch1,
pcdu::Switches switch1, pcdu::Switches switch2, Event pwrSwitchTimeoutEvent, pcdu::Switches switch2, Event pwrSwitchTimeoutEvent,
Event sideSwitchNotAllowedEvent, Event transitionOtherSideFailedEvent); Event sideSwitchNotAllowedEvent, Event transitionOtherSideFailedEvent);
protected: protected:

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@ -3,7 +3,7 @@
#include <devices/powerSwitcherList.h> #include <devices/powerSwitcherList.h>
#include <fsfw/modes/HasModesIF.h> #include <fsfw/modes/HasModesIF.h>
#include <mission/system/PowerStateMachineBase.h> #include <mission/system/objects/PowerStateMachineBase.h>
#include "definitions.h" #include "definitions.h"

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@ -0,0 +1,5 @@
#include "EiveSystem.h"
EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}

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@ -5,8 +5,7 @@
class EiveSystem : public Subsystem { class EiveSystem : public Subsystem {
public: public:
EiveSystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences, EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
uint32_t maxNumberOfTables);
private: private:
}; };

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@ -0,0 +1,5 @@
#include "PayloadSubsystem.h"
PayloadSubsystem::PayloadSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}

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@ -5,7 +5,7 @@
class PayloadSubsystem : public Subsystem { class PayloadSubsystem : public Subsystem {
public: public:
PayloadSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences, PayloadSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables); uint32_t maxNumberOfTables);
private: private:

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@ -1,8 +1,8 @@
#include "RwAssembly.h" #include "RwAssembly.h"
RwAssembly::RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher, RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
power::Switch_t switcher, RwHelper helper) RwHelper helper)
: AssemblyBase(objectId, parentId), helper(helper), switcher(pwrSwitcher, switcher) { : AssemblyBase(objectId), helper(helper), switcher(pwrSwitcher, switcher) {
ModeListEntry entry; ModeListEntry entry;
for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) { for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
entry.setObject(helper.rwIds[idx]); entry.setObject(helper.rwIds[idx]);
@ -167,16 +167,7 @@ bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
return false; return false;
} }
ReturnValue_t RwAssembly::initialize() { ReturnValue_t RwAssembly::initialize() { return SubsystemBase::initialize(); }
ReturnValue_t result = returnvalue::OK;
for (const auto& obj : helper.rwIds) {
result = registerChild(obj);
if (result != returnvalue::OK) {
return result;
}
}
return SubsystemBase::initialize();
}
void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) { void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
if (targetMode == MODE_OFF) { if (targetMode == MODE_OFF) {

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@ -12,8 +12,8 @@ struct RwHelper {
class RwAssembly : public AssemblyBase { class RwAssembly : public AssemblyBase {
public: public:
RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher, RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
power::Switch_t switcher, RwHelper helper); RwHelper helper);
private: private:
static constexpr uint8_t NUMBER_RWS = 4; static constexpr uint8_t NUMBER_RWS = 4;

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@ -4,9 +4,8 @@
#include <fsfw/power/PowerSwitchIF.h> #include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/serviceinterface.h> #include <fsfw/serviceinterface.h>
SusAssembly::SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher, SusAssembly::SusAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, SusAssHelper helper)
SusAssHelper helper) : DualLaneAssemblyBase(objectId, pwrSwitcher, SWITCH_NOM, SWITCH_RED,
: DualLaneAssemblyBase(objectId, parentId, pwrSwitcher, SWITCH_NOM, SWITCH_RED,
POWER_STATE_MACHINE_TIMEOUT, SIDE_SWITCH_TRANSITION_NOT_ALLOWED, POWER_STATE_MACHINE_TIMEOUT, SIDE_SWITCH_TRANSITION_NOT_ALLOWED,
TRANSITION_OTHER_SIDE_FAILED), TRANSITION_OTHER_SIDE_FAILED),
helper(helper), helper(helper),
@ -121,16 +120,7 @@ ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wan
return returnvalue::OK; return returnvalue::OK;
} }
ReturnValue_t SusAssembly::initialize() { ReturnValue_t SusAssembly::initialize() { return AssemblyBase::initialize(); }
ReturnValue_t result = returnvalue::OK;
for (const auto& id : helper.susIds) {
result = registerChild(id);
if (result != returnvalue::OK) {
return result;
}
}
return AssemblyBase::initialize();
}
bool SusAssembly::isUseable(object_id_t object, Mode_t mode) { bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {
if (healthHelper.healthTable->isFaulty(object)) { if (healthHelper.healthTable->isFaulty(object)) {

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@ -40,8 +40,7 @@ class SusAssembly : public DualLaneAssemblyBase {
static constexpr Event SIDE_SWITCH_TRANSITION_NOT_ALLOWED = static constexpr Event SIDE_SWITCH_TRANSITION_NOT_ALLOWED =
event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW); event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher, SusAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, SusAssHelper helper);
SusAssHelper helper);
private: private:
enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE; enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;

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@ -3,10 +3,9 @@
#include <fsfw/devicehandlers/DeviceHandlerIF.h> #include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/ipc/QueueFactory.h> #include <fsfw/ipc/QueueFactory.h>
TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, object_id_t parentId, TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
PowerSwitchIF* pwrSwitcher, power::Switch_t theSwitch, power::Switch_t theSwitch, TcsBoardHelper helper)
TcsBoardHelper helper) : AssemblyBase(objectId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
: AssemblyBase(objectId, parentId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
eventQueue = QueueFactory::instance()->createMessageQueue(24); eventQueue = QueueFactory::instance()->createMessageQueue(24);
ModeListEntry entry; ModeListEntry entry;
for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) { for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
@ -90,16 +89,7 @@ ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
return HasModesIF::INVALID_MODE; return HasModesIF::INVALID_MODE;
} }
ReturnValue_t TcsBoardAssembly::initialize() { ReturnValue_t TcsBoardAssembly::initialize() { return AssemblyBase::initialize(); }
ReturnValue_t result = returnvalue::OK;
for (const auto& obj : helper.rtdInfos) {
result = registerChild(obj.first);
if (result != returnvalue::OK) {
return result;
}
}
return SubsystemBase::initialize();
}
void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) { void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
if (mode != MODE_OFF) { if (mode != MODE_OFF) {

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@ -20,8 +20,8 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_BOARD_ASS; static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_BOARD_ASS;
static constexpr Event CHILDREN_LOST_MODE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM); static constexpr Event CHILDREN_LOST_MODE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
TcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher, TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
power::Switch_t switcher, TcsBoardHelper helper); TcsBoardHelper helper);
ReturnValue_t initialize() override; ReturnValue_t initialize() override;

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@ -0,0 +1 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp)

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@ -0,0 +1,397 @@
#include "acsModeTree.h"
#include <fsfw/container/FixedMap.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/subsystem/modes/ModeDefinitions.h>
#include "eive/objects.h"
#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
Subsystem satsystem::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
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);
// 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>());
auto ACS_TABLE_OFF_TRANS =
std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto ACS_SEQUENCE_DETUMBLE =
std::make_pair(acs::CtrlModes::DETUMBLE << 24, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_DETUMBLE_TGT =
std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_DETUMBLE_TRANS_0 =
std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_DETUMBLE_TRANS_1 =
std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_SAFE =
std::make_pair(acs::CtrlModes::SAFE << 24, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_SAFE_TGT =
std::make_pair((acs::CtrlModes::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_SAFE_TRANS_0 =
std::make_pair((acs::CtrlModes::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_SAFE_TRANS_1 =
std::make_pair((acs::CtrlModes::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_IDLE =
std::make_pair(acs::CtrlModes::IDLE << 24, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_IDLE_TGT =
std::make_pair((acs::CtrlModes::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_IDLE_TRANS_0 =
std::make_pair((acs::CtrlModes::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_IDLE_TRANS_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 =
std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_TARGET_PT_TGT =
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_TARGET_PT_TRANS_0 =
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_TARGET_PT_TRANS_1 =
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
void satsystem::initAcsSubsystem(object_id_t satSystemObjId) {
ModeListEntry entry;
buildOffSequence(&ACS_SUBSYSTEM, entry);
buildSafeSequence(&ACS_SUBSYSTEM, entry);
buildDetumbleSequence(&ACS_SUBSYSTEM, entry);
buildIdleSequence(&ACS_SUBSYSTEM, entry);
buildIdleChargeSequence(&ACS_SUBSYSTEM, entry);
buildTargetPtSequence(&ACS_SUBSYSTEM, entry);
ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
}
void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildOffSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(table.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);
};
// OFF Target table is empty
check(ss->addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
// Build OFF transition
iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
iht(objects::STAR_TRACKER, 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::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
check(ss->addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true), ctxc);
// Build OFF sequence
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false);
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS.first, 0, false);
check(ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
false, true),
ctxc);
}
void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildSafeSequence";
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 SAFE target
iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 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::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
check(ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
// Build SAFE transition 0
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::SUS_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::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
check(ss->addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
ctxc);
// Build SAFE transition 1
iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
check(ss->addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
ctxc);
// Build SAFE sequence
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false);
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
check(ss->addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
false, true),
ctxc);
}
void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildDetumbleSequence";
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 DETUMBLE target
iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 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::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
check(ss->addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
ctxc);
// Build DETUMBLE transition 0
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::ACS_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::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
check(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
true),
ctxc);
// Build DETUMBLE transition 1
iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
check(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
true),
ctxc);
// Build DETUMBLE sequence
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_1.first, 0, false);
check(ss->addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
ACS_SEQUENCE_SAFE.first, false, true),
ctxc);
}
void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildIdleSequence";
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 IDLE target
iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
ss->addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
// Build IDLE transition 0
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_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_IDLE_TRANS_0.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_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);
// Build IDLE transition 1
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);
// Build IDLE sequence
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
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);
ss->addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first,
false, true);
}
void 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);
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 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);
check(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);
check(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);
check(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);
check(ss->addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first,
ACS_SEQUENCE_SAFE.first, false, true),
ctxc);
}
void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
std::string context = "satsystem::buildTargetPtSequence";
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 TARGET PT table
iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
iht(objects::SUS_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::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
check(ss->addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true),
ctxc);
// Build TARGET PT transition 0
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
iht(objects::SUS_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::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
check(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false,
true),
ctxc);
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
check(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false,
true),
ctxc);
// Build IDLE sequence
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, true);
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
check(ss->addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
ACS_SEQUENCE_IDLE.first, false, true),
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;
}
}
}

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@ -0,0 +1,11 @@
#include <fsfw/subsystem/modes/ModeDefinitions.h>
class Subsystem;
namespace satsystem {
extern Subsystem ACS_SUBSYSTEM;
void initAcsSubsystem(object_id_t satSystemObjId);
} // namespace satsystem

2
tmtc

@ -1 +1 @@
Subproject commit 044c600b1ce13d58781a8d06125619c8cc0080f9 Subproject commit f3609b81799790578c095262f33c11add3c0b078

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@ -17,7 +17,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
// testEnvironment::initialize(); // testEnvironment::initialize();
ThermalController controller(THERMAL_CONTROLLER_ID, objects::NO_OBJECT); ThermalController controller(THERMAL_CONTROLLER_ID);
ReturnValue_t result = controller.initialize(); ReturnValue_t result = controller.initialize();
REQUIRE(result == returnvalue::OK); REQUIRE(result == returnvalue::OK);