28 lines
616 B
C++
28 lines
616 B
C++
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#include "torquer.h"
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#include <fsfw/ipc/MutexGuard.h>
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MutexIF* TORQUE_LOCK = nullptr;
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namespace torquer {
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bool TORQUEING = false;
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bool NEW_ACTUATION_FLAG = false;
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Countdown TORQUE_COUNTDOWN = Countdown();
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bool mgtIsTorqueing(dur_millis_t* remainingTorqueDuration) {
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if (TORQUEING and remainingTorqueDuration != nullptr) {
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*remainingTorqueDuration = TORQUE_COUNTDOWN.getRemainingMillis() + TORQUE_BUFFER_TIME_MS;
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}
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return TORQUEING;
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}
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MutexIF* lazyLock() {
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if (TORQUE_LOCK == nullptr) {
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TORQUE_LOCK = MutexFactory::instance()->createMutex();
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}
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return TORQUE_LOCK;
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}
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} // namespace torquer
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