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ACS Modes Refactoring #455

Merged
muellerr merged 10 commits from acs-modes-refactoring into develop 2023-03-10 15:02:26 +01:00
Conversation 0 Commits 10 Files Changed 11 +28 -101
7 changed files with 28 additions and 101 deletions
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Showing only changes of commit c85c2cf4b6 - Show all commits

4
mission/acsDefs.cpp
View File

@ -11,10 +11,6 @@ const char* acs::getModeStr(AcsMode mode) {
modeStr = "SAFE";
break;
}
case (acs::AcsMode::DETUMBLE): {
modeStr = "DETUBMLE";
break;
}
case (acs::AcsMode::PTG_NADIR): {
modeStr = "POITNING NADIR";
break;

3
mission/acsDefs.h
View File

@ -15,9 +15,10 @@ enum AcsMode : Mode_t {
PTG_TARGET = 13,
PTG_TARGET_GS = 14,
PTG_INERTIAL = 15,
DETUMBLE = 20,
};
enum SafeSubmode : Submode_t { DEFAULT = 0, DETUMBLE = 1 };
// static constexpr uint8_t ACS_SYSTEM_DETUMBLE_SUBMODE = 1;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;

12
mission/controller/AcsController.cpp
View File

@ -641,7 +641,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
}
} else if (not((mode < acs::AcsMode::SAFE) or (mode > acs::AcsMode::PTG_INERTIAL))) {
if (mode == acs::AcsMode::SAFE) {
if (not((submode == SUBMODE_NONE) or (submode == acs::AcsMode::DETUMBLE))) {
if (not((submode == SUBMODE_NONE) or (submode == acs::SafeSubmode::DETUMBLE))) {
return INVALID_SUBMODE;
} else {
return returnvalue::OK;
@ -664,13 +664,17 @@ void AcsController::announceMode(bool recursive) {
if (mode == HasModesIF::MODE_OFF) {
modeStr = "OFF";
} else {
*modeStr = acs::getModeStr(static_cast<acs::AcsMode>(mode));
modeStr = acs::getModeStr(static_cast<acs::AcsMode>(mode));
}
const char *submodeStr = "UNKNOWN";
if (submode == HasModesIF::SUBMODE_NONE) {
submodeStr = "NONE";
} else {
*submodeStr = acs::getModeStr(static_cast<acs::AcsMode>(mode));
}
if (mode == acs::AcsMode::SAFE) {
acs::SafeSubmode safeSubmode = static_cast<acs::SafeSubmode>(this->submode);
if (safeSubmode == acs::SafeSubmode::DETUMBLE) {
submodeStr = "DETUMBLE";
}
}
sif::info << "ACS controller is now in " << modeStr << " mode with " << submodeStr << " submode"
<< std::endl;

4
mission/system/objects/AcsSubsystem.cpp
View File

@ -60,7 +60,7 @@ void AcsSubsystem::handleEventMessages() {
case EventMessage::EVENT_MESSAGE:
if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, acs::AcsMode::DETUMBLE);
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, acs::SafeSubmode::DETUMBLE);
status = commandQueue->sendMessage(commandQueue->getId(), &msg);
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
@ -68,7 +68,7 @@ void AcsSubsystem::handleEventMessages() {
}
if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, SUBMODE_NONE);
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT);
status = commandQueue->sendMessage(commandQueue->getId(), &msg);
if (status != returnvalue::OK) {
sif::error << "AcsSubsystem: sending SAFE mode cmd to self has failed" << std::endl;

4
mission/system/objects/EiveSystem.cpp
View File

@ -17,10 +17,6 @@ void EiveSystem::announceMode(bool recursive) {
modeStr = "SAFE";
break;
}
case (acs::AcsMode::DETUMBLE): {
modeStr = "DETUBMLE";
break;
}
case (acs::AcsMode::PTG_IDLE): {
modeStr = "POINTING IDLE";
break;

95
mission/system/tree/acsModeTree.cpp
View File

@ -20,7 +20,6 @@ namespace {
const auto check = subsystem::checkInsert;
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 buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh);
@ -43,15 +42,6 @@ auto ACS_TABLE_OFF_TRANS_0 =
auto ACS_TABLE_OFF_TRANS_1 =
std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
auto ACS_SEQUENCE_DETUMBLE =
std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_DETUMBLE_TGT =
std::make_pair((acs::AcsMode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_DETUMBLE_TRANS_0 =
std::make_pair((acs::AcsMode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_DETUMBLE_TRANS_1 =
std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_SAFE_TGT =
std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
@ -130,7 +120,6 @@ Subsystem& satsystem::acs::init() {
buildOffSequence(ACS_SUBSYSTEM, entry);
buildSafeSequence(ACS_SUBSYSTEM, entry);
buildDetumbleSequence(ACS_SUBSYSTEM, entry);
buildIdleSequence(ACS_SUBSYSTEM, entry);
buildTargetPtSequence(ACS_SUBSYSTEM, entry);
buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
@ -206,8 +195,8 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
// Build SAFE target
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second);
// Build SAFE target. Allow detumble submode.
iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, 0, ACS_TABLE_SAFE_TGT.second, true);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
@ -225,7 +214,8 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
// SUS board transition table is defined above
// Build SAFE transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT,
ACS_TABLE_SAFE_TRANS_1.second);
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
ctxc);
@ -238,61 +228,6 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
}
void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::acs::buildDetumbleSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
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, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true);
check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
ctxc);
// Build DETUMBLE transition 0
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true);
iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::RW_ASSY, 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, NML, acs::AcsMode::DETUMBLE, 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::acs::buildIdleSequence";
auto ctxc = context.c_str();
@ -316,7 +251,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// Build IDLE target
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_IDLE, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
@ -333,7 +268,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
// Build IDLE transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TRANS_1.second);
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_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
@ -368,7 +303,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
@ -379,7 +314,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second);
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TRANS_1.second);
check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
true),
ctxc);
@ -417,8 +352,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
@ -430,7 +364,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_NADIR,
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0,
ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first,
&ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)),
@ -471,8 +405,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
@ -484,7 +417,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0,
ACS_TABLE_PTG_TARGET_GS_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_GS_TRANS_1.first,
&ACS_TABLE_PTG_TARGET_GS_TRANS_1.second)),
@ -524,7 +457,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_INERTIAL,
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
@ -537,7 +470,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_INERTIAL,
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
&ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),

7
mission/system/tree/system.cpp
View File

@ -82,11 +82,8 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// Do no track ACS for now because it might jump to detumble mode and back to safe as part of
// normal operations.
// UPDATE: This could be re-enabled as soon as the detumble mode is a submode of
// ACS CTRL safe mode.
// iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true);
// Do no track submode to allow transitions to DETUMBLE submode.
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TGT.second);
check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);