147 lines
5.8 KiB
C++
147 lines
5.8 KiB
C++
#include "system.h"
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <fsfw/subsystem/Subsystem.h>
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#include <mission/acsDefs.h>
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#include "acsModeTree.h"
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#include "comModeTree.h"
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#include "eive/objects.h"
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#include "mission/comDefs.h"
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#include "payloadModeTree.h"
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#include "tcsModeTree.h"
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#include "util.h"
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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 buildSafeSequence(Subsystem& ss, ModeListEntry& eh);
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void buildIdleSequence(Subsystem& ss, ModeListEntry& eh);
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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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void satsystem::init() {
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auto& acsSubsystem = acs::init();
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acsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
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auto& payloadSubsystem = pl::init();
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payloadSubsystem.connectModeTreeParent(EIVE_SYSTEM);
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auto& tcsSubsystem = tcs::init();
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tcsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
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auto& comSubsystem = com::init();
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comSubsystem.connectModeTreeParent(EIVE_SYSTEM);
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ModeListEntry entry;
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buildSafeSequence(EIVE_SYSTEM, entry);
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buildIdleSequence(EIVE_SYSTEM, entry);
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}
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EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24);
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auto EIVE_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_SAFE_TGT =
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std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_SAFE_TRANS_0 =
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std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_SAFE_TRANS_1 =
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std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_SEQUENCE_IDLE =
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std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_IDLE_TGT =
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std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_IDLE_TRANS_0 =
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std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
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auto EIVE_TABLE_IDLE_TRANS_1 =
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std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
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namespace {
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void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
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std::string context = "satsystem::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, ArrayList<ModeListEntry>& table,
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bool allowAllSubmodes = false) {
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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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if (allowAllSubmodes) {
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eh.allowAllSubmodes();
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}
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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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// Do no track ACS for now because it might jump to detumble mode and back to safe as part of
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// normal operations.
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// UPDATE: This could be re-enabled as soon as the detumble mode is a submode of
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// ACS CTRL safe mode.
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// iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true);
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iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TGT.second);
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check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
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// Build SAFE transition 0. Two transitions to reduce number of consecutive events and because
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// consecutive commanding of TCS and ACS can lead to SPI issues.
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iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
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iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_SAFE_TRANS_0.second);
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iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true);
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check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
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ctxc);
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// Build Safe sequence
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ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
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ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
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check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
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EIVE_SEQUENCE_SAFE.first)),
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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::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, 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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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TGT.second);
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check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
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// Build IDLE transition 0
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iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
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iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_0.second);
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iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_0.second);
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check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
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ctxc);
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// Build IDLE sequence
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ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
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ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
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check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
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EIVE_SEQUENCE_SAFE.first)),
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ctxc);
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}
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} // namespace
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