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