components::SeqDispatcher

Dispatches command sequences to available command sequencers, allowing the spacecraft controllers to run multiple sequences at once without having to manually manage which CmdSequencers those sequences run on.

Usage

• Call the RUN command just like you would call it on a CmdSequencer
• If any connected CmdSequencer is available, it will route the sequence to the first one it finds
• RUN can be made blocking or non-blocking, just like CmdSequencer's RUN

State diagram

Port Descriptions

|Type| Name | Description | |async input|seqRunIn|Equivalent to the RUN cmd, dispatches a sequence to the first available sequencer| |output|seqRunOut|This is used by the SeqDispatcher to send sequence run calls to sequencers| |output|seqCancelOut|This is used by the SeqDispatcher to cancel a running sequence on a specific sequencer| |async input|seqDoneIn|Called by a command sequencer whenever it has finished any sequence| |async input|seqStartIn|Called by a command sequencer whenever it starts any sequence|

Commands

| Name | Description | |RUN|Dispatches a sequence to the first available sequencer| |RUN_ARGS|Dispatches a sequence with arguments to the first available sequencer| |LOG_STATUS|Logs via Events the state of each connected command sequencer| |CANCEL_NAME|Cancels any running sequence matching the given file name.| |CANCEL_ALL|Cancels every currently running sequence on all connected sequencers. This is a broadcast and does not exclude the caller: a sequence that issues CANCEL_ALL is itself canceled.|

Events

| Name | Description | |InvalidSequencer|The given sequencer index is invalid for an unspecified reason| |NoAvailableSequencers|There are no available sequencers to dispatch a sequence to| |UnknownSequenceFinished|We received a call to seqDoneIn that didn't have a corresponding seqStartIn call. The dispatcher recovers by marking the sequencer available and clearing its tracked sequence| |UnexpectedSequenceStarted|We received a call to seqStartIn but we didn't receive a call to seqDoneIn before that| |ConflictingSequenceStarted|A sequencer started a new sequence while still marked as running another| |LogSequencerStatus|Shows the current state and sequence filename for a particular sequencer. Produced by the LOG_STATUS command| |SequenceCanceled|A running sequence was canceled on the given sequencer (by CANCEL_NAME or CANCEL_ALL)| |CancelSequenceNotFound|No running sequence matched the CANCEL_NAME file name|

Telemetry

| Name | Description | |dispatchedCount|Number of sequences dispatched| |errorCount|Number of sequences dispatched that returned an error. Note: if a sequence was run in non-blocking mode, even if the sequence errors out, this error count will never increase| |sequencersAvailable|Number of sequencers ready to run a sequence| |canceledCount|Number of sequences canceled by the CANCEL_NAME and CANCEL_ALL commands|

Unit Tests

Add unit test descriptions in the chart below | Name | Description | |testDispatch|Tests the basic dispatch functionality of the SeqDispatcher| |testLogStatus|Tests the LOG_STATUS command| |testCancelName|Tests that CANCEL_NAME cancels the matching sequencer and clears state on seqDoneIn| |testCancelNameNotFound|Tests that CANCEL_NAME with an unmatched file name errors and cancels nothing| |testCancelAll|Tests that CANCEL_ALL cancels every running sequencer and clears state on seqDoneIn| |testCancelAllNoneRunning|Tests that CANCEL_ALL with no running sequences succeeds and cancels nothing|

Requirements

Add requirements in the chart below

Name	Description	Validation
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