Robin Mueller
438f9f3358
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579 lines
32 KiB
C++
579 lines
32 KiB
C++
#include "pollingSequenceFactory.h"
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <fsfw/objectmanager/ObjectManagerIF.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include "mission/devices/devicedefinitions/Max31865Definitions.h"
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#ifndef RPI_TEST_ADIS16507
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#define RPI_TEST_ADIS16507 0
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#endif
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#ifndef RPI_TEST_GPS_HANDLER
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#define RPI_TEST_GPS_HANDLER 0
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#endif
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ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
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uint32_t length = thisSequence->getPeriodMs();
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static_cast<void>(length);
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thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
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return thisSequence->checkSequence();
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}
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ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
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uint32_t length = thisSequence->getPeriodMs();
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static_cast<void>(length);
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#if OBSW_ADD_PL_PCDU == 1
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thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
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#endif
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#if OBSW_ADD_SUN_SENSORS == 1
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bool addSus0 = true;
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bool addSus1 = true;
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bool addSus2 = true;
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bool addSus3 = true;
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bool addSus4 = true;
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bool addSus5 = true;
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bool addSus6 = true;
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bool addSus7 = true;
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bool addSus8 = true;
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bool addSus9 = true;
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bool addSus10 = true;
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bool addSus11 = true;
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if (addSus0) {
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/* Write setup */
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
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DeviceHandlerIF::GET_READ);
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}
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if (addSus1) {
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
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DeviceHandlerIF::GET_READ);
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}
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if (addSus2) {
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
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DeviceHandlerIF::GET_READ);
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}
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if (addSus3) {
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thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
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DeviceHandlerIF::GET_READ);
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}
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if (addSus4) {
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thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
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DeviceHandlerIF::GET_READ);
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}
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if (addSus5) {
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thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
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DeviceHandlerIF::GET_READ);
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}
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if (addSus6) {
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thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
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DeviceHandlerIF::GET_READ);
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}
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if (addSus7) {
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thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
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DeviceHandlerIF::GET_READ);
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}
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if (addSus8) {
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thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
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DeviceHandlerIF::GET_READ);
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}
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if (addSus9) {
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thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
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DeviceHandlerIF::GET_READ);
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}
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if (addSus10) {
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thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
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DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
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DeviceHandlerIF::GET_READ);
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}
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if (addSus11) {
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thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
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DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
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DeviceHandlerIF::GET_READ);
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}
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#endif /* OBSW_ADD_SUN_SENSORS == 1 */
|
|
|
|
#if OBSW_ADD_RAD_SENSORS == 1
|
|
/* Radiation sensor */
|
|
thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
|
|
#endif
|
|
|
|
#if OBSW_ADD_ACS_BOARD == 1
|
|
bool enableAside = true;
|
|
bool enableBside = true;
|
|
if (enableAside) {
|
|
// A side
|
|
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
|
|
|
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
|
|
|
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
|
|
|
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
|
}
|
|
|
|
if (enableBside) {
|
|
// B side
|
|
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
|
|
|
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
|
|
|
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
|
|
|
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
|
}
|
|
#endif /* OBSW_ADD_ACS_BOARD == 1 */
|
|
|
|
return thisSequence->checkSequence();
|
|
}
|
|
|
|
// I don't think this needs to be in a PST because linux takes care of bus serialization, but
|
|
// keep it like this for now, it works
|
|
ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
|
|
// Length of a communication cycle
|
|
uint32_t length = thisSequence->getPeriodMs();
|
|
static_cast<void>(length);
|
|
#if OBSW_ADD_MGT == 1
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
|
#endif
|
|
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
|
|
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
|
|
#endif
|
|
// These are actually part of another bus, but this works, so keep it like this for now
|
|
#if OBSW_ADD_TMP_DEVICES == 1
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::GET_READ);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_READ);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
|
|
DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
|
|
DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4, DeviceHandlerIF::GET_READ);
|
|
// damaged
|
|
/*
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
|
|
DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
|
|
DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4, DeviceHandlerIF::GET_READ);
|
|
*/
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
|
|
DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
|
|
DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4, DeviceHandlerIF::GET_READ);
|
|
#endif
|
|
static_cast<void>(length);
|
|
return thisSequence->checkSequence();
|
|
}
|
|
|
|
ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
|
|
// Length of a communication cycle
|
|
uint32_t length = thisSequence->getPeriodMs();
|
|
static_cast<void>(length);
|
|
|
|
#if OBSW_ADD_SYRLINKS == 1
|
|
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
|
|
#endif
|
|
|
|
#if OBSW_ADD_STAR_TRACKER == 1
|
|
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
|
|
#endif
|
|
return thisSequence->checkSequence();
|
|
}
|
|
|
|
ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
|
|
uint32_t length = thisSequence->getPeriodMs();
|
|
// PCDU handlers receives two messages and both must be handled
|
|
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
|
|
|
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
|
|
|
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
|
|
|
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
|
|
|
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
|
|
|
|
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
|
|
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
|
|
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
|
|
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
|
|
if (thisSequence->checkSequence() != returnvalue::OK) {
|
|
sif::error << "GomSpace PST initialization failed" << std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
static_cast<void>(length);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
|
|
/* Length of a communication cycle */
|
|
uint32_t length = thisSequence->getPeriodMs();
|
|
bool notEmpty = false;
|
|
|
|
#if RPI_TEST_ADIS16507 == 1
|
|
notEmpty = true;
|
|
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
|
|
DeviceHandlerIF::PERFORM_OPERATION);
|
|
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
|
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
|
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
|
|
#endif
|
|
|
|
#if RPI_TEST_GPS_HANDLER == 1
|
|
notEmpty = true;
|
|
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
|
|
|
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
|
|
|
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
|
|
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
|
|
#endif
|
|
static_cast<void>(length);
|
|
if (not notEmpty) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
if (thisSequence->checkSequence() != returnvalue::OK) {
|
|
sif::error << "Test PST initialization failed" << std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|