eive/eive-obsw
eive/eive-obsw
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EIVE System #376

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muellerr merged 13 commits from eive_system into develop 2023-02-13 09:38:54 +01:00
Conversation 0 Commits 13 Files Changed 41 +49 -3
1 changed files with 49 additions and 3 deletions
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Showing only changes of commit 6b919c727d - Show all commits

52
mission/system/tree/system.cpp
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@ -16,6 +16,7 @@ namespace {
const auto check = subsystem::checkInsert;
void buildSafeSequence(Subsystem& ss, ModeListEntry& eh);
void buildIdleSequence(Subsystem& ss, ModeListEntry& eh);
} // namespace
static const auto OFF = HasModesIF::MODE_OFF;
@ -32,6 +33,7 @@ void satsystem::init() {
comSubsystem.connectModeTreeParent(EIVE_SYSTEM);
ModeListEntry entry;
buildSafeSequence(EIVE_SYSTEM, entry);
buildIdleSequence(EIVE_SYSTEM, entry);
}
EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24);
@ -50,6 +52,8 @@ auto EIVE_TABLE_IDLE_TGT =
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_IDLE_TRANS_0 =
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_IDLE_TRANS_1 =
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
namespace {
@ -72,9 +76,9 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// Only tracks that payload is off
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TGT.second);
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
// Build SAFE transition 0
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
@ -90,10 +94,52 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
// Build Safe sequence
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 2, false);
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 0, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
EIVE_SEQUENCE_SAFE.first)),
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>& 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);
};
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TGT.second);
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
// Build SAFE transition 0
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
ctxc);
// Build SAFE transition 1
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_1.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_1.second);
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_1.first, &EIVE_TABLE_IDLE_TRANS_1.second)),
ctxc);
// Build Safe sequence
ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_1.first, 0, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
EIVE_SEQUENCE_IDLE.first)),
ctxc);
}
} // namespace