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 it.

TODO: Review info

TODO: Write something about subscription code

Main Axes definition class¶

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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

Send trigger to OMT.abel{SendTriggerToOMT}

Send trigger to OMT block diagram.abel{SendTriggerToOMTBlockDiagram}

SelectOMTTrigger¶

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

Select the OMT trigger.abel{SendOMTTrigger}

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| |——|——-|—–|—–| |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

Send trigger to OMT block diagram. Case Move velocity.abel{SendOMTTriggerMoveVelocity}

Send trigger to OMT block diagram. Case Not valid command.abel{SendOMTTriggerNotValidCommand}

Send trigger to OMT block diagram. Case null command.abel{SendOMTTriggerNullCommand}

Send trigger to OMT block diagram. Case Reset Alarm.abel{SendOMTTriggerResetAlarm}

Send trigger to OMT block diagram. Case Track.abel{SendOMTTriggerTrack}

Send trigger to OMT block diagram. Case Move.abel{SendOMTTriggerMove}

Send trigger to OMT block diagram. Case Stop.abel{SendOMTTriggerStop}

Send trigger to OMT block diagram. Case Power.abel{SendOMTTriggerPower}

Send trigger to OMT block diagram. Case Drive Enable.abel{SendOMTTriggerDriveEnable}

Send trigger to OMT block diagram. Case Drive Reset.abel{SendOMTTriggerDriveReset}

Send trigger to OMT block diagram. Case Enable Track.abel{SendOMTTriggerEnableTrack}

GenerateOMTTrigger¶

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

TODO: continue