Robin Mueller
6530ad8f1a
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EIVE/eive-obsw/pipeline/pr-develop This commit looks good
538 lines
24 KiB
C++
538 lines
24 KiB
C++
#include "acsModeTree.h"
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#include <fsfw/container/FixedMap.h>
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <fsfw/modes/HasModesIF.h>
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#include <fsfw/subsystem/Subsystem.h>
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#include <fsfw/subsystem/modes/ModeDefinitions.h>
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#include "eive/objects.h"
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#include "mission/acsDefs.h"
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#include "util.h"
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AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
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namespace {
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// Alias for checker function
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const auto check = subsystem::checkInsert;
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void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
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void buildDetumbleSequence(Subsystem& ss, ModeListEntry& entryHelper);
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void buildSafeSequence(Subsystem& ss, ModeListEntry& entryHelper);
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void buildIdleSequence(Subsystem& ss, ModeListEntry& entryHelper);
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void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh);
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void buildTargetPtSequence(Subsystem& ss, ModeListEntry& entryHelper);
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void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& entryHelper);
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void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
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} // namespace
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static const auto OFF = HasModesIF::MODE_OFF;
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static const auto NML = DeviceHandlerIF::MODE_NORMAL;
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auto SUS_BOARD_NML_TRANS = std::make_pair(0x20, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsMode::OFF, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_OFF_TGT =
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std::make_pair((acs::AcsMode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
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auto ACS_TABLE_OFF_TRANS_0 =
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std::make_pair((acs::AcsMode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
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auto ACS_TABLE_OFF_TRANS_1 =
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std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
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auto ACS_SEQUENCE_DETUMBLE =
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std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_DETUMBLE_TGT =
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std::make_pair((acs::AcsMode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_DETUMBLE_TRANS_0 =
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std::make_pair((acs::AcsMode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_DETUMBLE_TRANS_1 =
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std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
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auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_SAFE_TGT =
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std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_SAFE_TRANS_0 =
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std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_SAFE_TRANS_1 =
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std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
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auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
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auto ACS_TABLE_IDLE_TGT =
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std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_IDLE_TRANS_0 =
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std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_IDLE_TRANS_1 =
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std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
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auto ACS_TABLE_PTG_TRANS_0 =
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std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto ACS_SEQUENCE_PTG_TARGET =
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std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_PTG_TARGET_TGT =
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std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_PTG_TARGET_TRANS_1 =
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std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_PTG_TARGET_GS =
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std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_PTG_TARGET_GS_TGT =
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std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
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std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_PTG_TARGET_NADIR =
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std::make_pair(acs::AcsMode::PTG_NADIR, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_PTG_TARGET_NADIR_TGT =
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std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 =
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std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
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std::make_pair(acs::AcsMode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 4>());
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auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT =
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std::make_pair((acs::AcsMode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
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auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 =
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std::make_pair((acs::AcsMode::PTG_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
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Subsystem& satsystem::acs::init() {
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ModeListEntry entry;
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const char* ctxc = "satsystem::acs::init: generic target";
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// Insert Helper Table
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
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entry.setObject(obj);
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entry.setMode(mode);
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entry.setSubmode(submode);
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check(table.insert(entry), "satsystem::acs::init: generic target");
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};
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// Build TARGET PT transition 0
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
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iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
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check(ACS_SUBSYSTEM.addTable(
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TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
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ctxc);
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// Build SUS board transition
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iht(objects::SUS_BOARD_ASS, NML, 0, SUS_BOARD_NML_TRANS.second);
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check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
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ctxc);
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buildOffSequence(ACS_SUBSYSTEM, entry);
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buildSafeSequence(ACS_SUBSYSTEM, entry);
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buildDetumbleSequence(ACS_SUBSYSTEM, entry);
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buildIdleSequence(ACS_SUBSYSTEM, entry);
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buildTargetPtSequence(ACS_SUBSYSTEM, entry);
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buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
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buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
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buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
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ACS_SUBSYSTEM.setInitialMode(::acs::AcsMode::SAFE);
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return ACS_SUBSYSTEM;
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}
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namespace {
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void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::acs::buildOffSequence";
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auto ctxc = context.c_str();
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// Insert Helper Table
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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check(table.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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bool checkSuccess) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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check(sequence.insert(eh), ctxc);
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};
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// OFF Target table is empty
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check(ss.addTable(TableEntry(ACS_TABLE_OFF_TGT.first, &ACS_TABLE_OFF_TGT.second)), ctxc);
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// Build OFF transition 0
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iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS_0.second);
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check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_0.first, &ACS_TABLE_OFF_TRANS_0.second)), ctxc);
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// Build OFF transition 1
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iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
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iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
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iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
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check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc);
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// Build OFF sequence
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ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false);
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ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS_0.first, 0, false);
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ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS_1.first, 0, false);
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check(ss.addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
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false, true),
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ctxc);
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}
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void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::acs::buildSafeSequence";
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auto ctxc = context.c_str();
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// Insert Helper Table
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
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ArrayList<ModeListEntry>& sequence) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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bool checkSuccess) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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check(sequence.insert(eh), ctxc);
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};
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// Build SAFE target
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
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check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
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// Build SAFE transition 0
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
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iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
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check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
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ctxc);
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// SUS board transition table is defined above
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// Build SAFE transition 1
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
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check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
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ctxc);
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// Build SAFE sequence
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ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
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ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false);
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ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false);
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ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
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check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
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false, true),
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ctxc);
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}
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void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::acs::buildDetumbleSequence";
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auto ctxc = context.c_str();
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// Insert Helper Table
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
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ArrayList<ModeListEntry>& sequence) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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bool checkSuccess) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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check(sequence.insert(eh), ctxc);
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};
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// Build DETUMBLE target
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
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ctxc);
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// SUS board transition table is defined above
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// Build DETUMBLE transition 0
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
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true),
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ctxc);
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// Build DETUMBLE transition 1
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
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check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
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true),
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ctxc);
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// Build DETUMBLE sequence
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ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true);
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ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false);
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ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false);
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ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false);
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check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
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ACS_SEQUENCE_SAFE.first, false, true),
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ctxc);
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}
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void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::acs::buildIdleSequence";
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auto ctxc = context.c_str();
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// Insert Helper Table
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
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ArrayList<ModeListEntry>& sequence) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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bool checkSuccess) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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check(sequence.insert(eh), ctxc);
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};
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// Build IDLE target
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
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ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
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// SUS board transition table is built above
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// Build IDLE transition 0
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
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ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
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// Build IDLE transition 1
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iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TRANS_1.second);
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ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
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// Build IDLE sequence
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ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
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ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.first, 0, true);
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ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true);
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ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true);
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ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
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true);
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}
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void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::acs::buildTargetPtSequence";
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auto ctxc = context.c_str();
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// Insert Helper Table
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auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
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ArrayList<ModeListEntry>& sequence) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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check(sequence.insert(eh), ctxc);
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};
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// 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, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
|
|
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
|
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
|
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
|
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
|
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
|
check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
|
|
ctxc);
|
|
|
|
// SUS board transition table is built above
|
|
// 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);
|
|
check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
|
|
true),
|
|
ctxc);
|
|
|
|
// Build IDLE sequence
|
|
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
|
|
ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true);
|
|
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
|
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true);
|
|
check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
|
|
ACS_SEQUENCE_IDLE.first, false, true),
|
|
ctxc);
|
|
}
|
|
|
|
void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
|
|
std::string context = "satsystem::acs::buildTargetPtNadirSequence";
|
|
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, NML, acs::AcsMode::PTG_TARGET,
|
|
ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
|
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
|
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
|
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
|
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
|
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
|
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
|
|
&ACS_TABLE_PTG_TARGET_NADIR_TGT.second)),
|
|
ctxc);
|
|
|
|
// Transition 0 already built
|
|
// Build TARGET PT transition 1
|
|
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_NADIR,
|
|
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)),
|
|
ctxc);
|
|
|
|
// Build IDLE sequence
|
|
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TGT.first, 0, true);
|
|
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, SUS_BOARD_NML_TRANS.first, 0, true);
|
|
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
|
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, true);
|
|
check(
|
|
ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_NADIR.first,
|
|
&ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_SEQUENCE_IDLE.first)),
|
|
ctxc);
|
|
}
|
|
|
|
void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
|
|
std::string context = "satsystem::acs::buildTargetPtGsSequence";
|
|
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, NML, acs::AcsMode::PTG_TARGET_GS,
|
|
ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
|
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
|
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
|
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
|
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
|
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
|
check(ss.addTable(
|
|
TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)),
|
|
ctxc);
|
|
|
|
// Transition 0 already built
|
|
// Build TARGET PT transition 1
|
|
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
|
|
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)),
|
|
ctxc);
|
|
|
|
// Build IDLE sequence
|
|
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TGT.first, 0, true);
|
|
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, SUS_BOARD_NML_TRANS.first, 0, true);
|
|
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
|
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, 0, true);
|
|
check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_GS.first,
|
|
&ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_SEQUENCE_IDLE.first)),
|
|
ctxc);
|
|
}
|
|
|
|
void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
|
|
std::string context = "satsystem::acs::buildTargetPtInertialSequence";
|
|
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, NML, acs::AcsMode::PTG_INERTIAL,
|
|
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
|
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
|
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
|
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
|
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
|
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
|
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,
|
|
&ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second)),
|
|
ctxc);
|
|
|
|
// Transition 0 already built
|
|
// Build TARGET PT transition 1
|
|
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_INERTIAL,
|
|
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)),
|
|
ctxc);
|
|
|
|
// Build IDLE sequence
|
|
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, 0, true);
|
|
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, SUS_BOARD_NML_TRANS.first, 0, true);
|
|
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
|
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, 0,
|
|
true);
|
|
check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_INERTIAL.first,
|
|
&ACS_SEQUENCE_PTG_TARGET_INERTIAL.second,
|
|
ACS_SEQUENCE_IDLE.first)),
|
|
ctxc);
|
|
}
|
|
|
|
} // namespace
|