CMD Reception

The command reception is managed by the Command Receiver, but this subsystem must be subscribed in the command receiver task in order to receive commands. Also this subsystems must define the class to be interface with them. The CCW always must be subscribed to the command receiver. The AZCW is not subscribed to the command receiver, since it receive the commands through the azimuth axis, but there is the ability to subscribe to command receiver for standalone testing of the AZCW.

TODO: Write something about subscription code

Cable Wrap subsystem definition class

The subsystem definition object is an object of SubsystemCW class. This class is created for this subsystem specifically and overrides the parent class SubsystemGeneral class. The methods that overrides parent methods are described in next sections.

SendAlarmTrigger

This method just sends the trigger “Fault” to the statechart instance of actual object (element). The error in the input has no effect on this method and just propagates to the output.

SendWarningTrigger

This method just sends the trigger “Warning” to the statechart instance of actual object (element). The error in the input has no effect on this method and just propagates to the output.

SendDoneTrigger

This method sends the trigger “Done” to the statechart instance of actual object (element). This done is for receiving done triggers for Bosch Task. The error in the input has no effect on this method and just propagates to the output.

GetInstances

This method allows the system to convert the ID in parameters to the appropriate element ID. The method looks for a negative number and in it will put in the output an array with four indexes that should be valid for this subsystem. If the ID is positive it will only just put in the output

SendTriggerToOMT

This method will select the appropriate trigger to the statechart, depending on the received command. This selection will be done using two private methods, SelectOMTTrigger and GenerateOMTTrigger, that will be explained in next sections

SelectOMTTrigger

This method selects the balancing statechart trigger depending on the command received.

If the command number is 0 it will do nothing, because it will be considered as communication error. If the command number is not listed in the next tables it will ask command receiver task to send a no ack and will not send any trigger to statechart.

The next table are the commands for the camera cable wrap (commands are detailed in commands)

Received Command	Command Number	StateChart Trigger	Parameters
CAM_CW_POWER	1001	Power
CAM_CW_STOP	1002	Stop
CAM_CW_MOVE	1003	Move	Position(DBL), Velocity (DBL),
CAM_CW_TRACK_CAMERA	1004	Track
CAM_CW_RESET_ALARM	1005	Reset
CAM_CW_DRIVE_ENABLE	1006	EnableDrive
CAM_CW_DRIVE_RESET	1007	ResetDrive
CAM_CW_MOVE_VELOCITY	1008	MoveVelocity
CAM_CW_ENABLE_TRACK_CAMERA	1009	EnableTrack

The next table are the commands for the azimuth cable wrap

Received Command	Command Number	StateChart Trigger
AZ_CW_POWER	301	Power
AZ_CW_STOP	302	Stop
AZ_CW_MOVE	303	Move
AZ_CW_TRACK_AZIMUTH	305	Track
AZ_CW_RESET_ALARM	306	Reset
AZ_CW_DRIVE_ENABLE	308	EnableDrive
AZ_CW_DRIVE_RESET	307	ResetDrive
AZ_CW_MOVE_VELOCITY	304	MoveVelocity
AZ_CW_ENABLE_TRACK_CAMERA	309	EnableTrack

GenerateOMTTrigger

The selected trigger by SelectOMTTrigger will be generated in the cable crap state machine instance.

TODO: continue