Spacecraft mode management updates

[timcanham]

This is a follow-up to this discussion.

Here is a proposal for how to do basic mode management:

1) FPP updates - Add a new SpacecraftMode enumeration that lives in the project config directory. That allows projects to customize it to modes they like. For instance:

enum SpacecraftMode {
  TEST,
  LAUNCH,
  ORBIT_IDLE,
  ORBIT_SCIENCE,
  SAFE
}

Add an optional modes attribute to commands that specify a set of modes where the command is valid. For instance:

@ A sync command with parameters
sync command SyncParams(
    param1: U32 @< Param 1
    param2: string @< Param 2
    modes: TEST, ORBIT_SCIENCE
) opcode 0x02

Define a port type that allows getting the current mode (SpacecraftModeGet) for command checking, and setting (SpacecraftModeSet) for components (like fault protection) to set the mode.

2) FPP Autocoder

For commands that have the modes attribute, add a call to generated code to check the spacecraft mode via the SpacecraftModeGet port prior to executing the command.

3) Components: Write a basic SpacecraftMode component. This component would implement the SpacecraftModeGet and SpacecraftModeSet ports to store the current spacecraft mode. It would have commands to set the mode for ground operators.

If projects wanted more sophisticated mode management, they could implement their own component with SpacecraftModeGet and SpacecraftModeSet ports, but the above would provide a basic implementation.

This could also be wired into the basic fault protection component as a mode switch due to a fault.

[abdelrahman47]

Thanks for the good proposal.

I have implemented the Mode management component and it works well.

I have a question regarding the port invocations.

Is there a way to make an announcement to all ports? or it should be invoked one by one since in F Prime an output port can only be connected to one input port.

[LeStarch]

Typically one would have an array of output ports, and loop over them to send each the same message.