start adding ACS subsystem

2026-07-10 15:57:07 +02:00
parent d2db28468f
commit 8209bcb520
13 changed files with 313 additions and 110 deletions
@@ -1 +1,116 @@
-// TODO: Write subsystem
+use std::sync::mpsc::SyncSender;
+
+use models::ComponentId;
+
+#[derive(Debug)]
+pub struct TransitionInfo {
+    check_mode_reached: bool,
+}
+
+#[derive(Debug)]
+pub struct ChildModes {
+    mgm_assembly_mode: models::acs::mgm_assembly::Mode,
+    mgt_mode: models::acs::mgt::Mode,
+    controller_mode: models::acs::ctrl::Mode,
+}
+
+#[derive(Debug)]
+pub struct TransitionCommands {
+    mgm_assembly_mode: Option<(models::acs::mgm_assembly::Mode, TransitionInfo)>,
+    mgt_mode: Option<(models::acs::mgt::Mode, TransitionInfo)>,
+    controller_mode: Option<(models::acs::ctrl::Mode, TransitionInfo)>,
+}
+
+const OFF_SEQUENCE: [TransitionCommands; 2] = [
+    TransitionCommands {
+        mgm_assembly_mode: None,
+        mgt_mode: None,
+        controller_mode: Some((
+            models::acs::ctrl::Mode::Passive,
+            TransitionInfo {
+                check_mode_reached: true,
+            },
+        )),
+    },
+    TransitionCommands {
+        mgm_assembly_mode: Some((
+            models::acs::mgm_assembly::Mode::Device(models::DeviceMode::Off),
+            TransitionInfo {
+                check_mode_reached: false,
+            },
+        )),
+        mgt_mode: Some((
+            models::acs::mgt::Mode::Off,
+            TransitionInfo {
+                check_mode_reached: false,
+            },
+        )),
+        controller_mode: None,
+    },
+];
+
+const SAFE_SEQUENCE: [TransitionCommands; 2] = [
+    TransitionCommands {
+        mgm_assembly_mode: Some((
+            models::acs::mgm_assembly::Mode::Device(models::DeviceMode::Normal),
+            TransitionInfo {
+                check_mode_reached: false,
+            },
+        )),
+        mgt_mode: Some((
+            models::acs::mgt::Mode::Normal,
+            TransitionInfo {
+                check_mode_reached: false,
+            },
+        )),
+        controller_mode: None,
+    },
+    TransitionCommands {
+        mgm_assembly_mode: None,
+        mgt_mode: None,
+        controller_mode: Some((
+            models::acs::ctrl::Mode::Safe,
+            TransitionInfo {
+                check_mode_reached: false,
+            },
+        )),
+    },
+];
+
+#[derive(Debug)]
+pub struct ModeRequestSenders {
+    mode_request_ctrl: SyncSender<models::acs::ctrl::request::ModeRequest>,
+    mode_request_assy: SyncSender<models::acs::mgm_assembly::request::ModeRequest>,
+    mode_request_mgt: SyncSender<models::acs::mgt::request::ModeRequest>,
+}
+
+#[derive(Debug)]
+pub struct ModeReportReceivers {
+    mode_response_ctrl: SyncSender<models::acs::ctrl::response::ModeReport>,
+    mode_response_assy: SyncSender<models::acs::mgm_assembly::response::ModeReport>,
+    mode_response_mgt: SyncSender<models::acs::mgt::response::ModeReport>,
+}
+
+#[derive(Debug)]
+pub struct Subsystem {
+    current_mode: models::acs::subsystem::Mode,
+    current_child_modes: Option<ChildModes>,
+    mode_request_senders: ModeRequestSenders,
+    mode_report_receivers: ModeReportReceivers,
+}
+
+impl Subsystem {
+    pub const ID: ComponentId = ComponentId::AcsSubsystem;
+
+    pub fn new(
+        mode_request_senders: ModeRequestSenders,
+        mode_report_receivers: ModeReportReceivers,
+    ) -> Self {
+        Self {
+            current_mode: models::acs::subsystem::Mode::Off,
+            current_child_modes: None,
+            mode_request_senders,
+            mode_report_receivers,
+        }
+    }
+}