eive-obsw/mission/system/acs/RwAssembly.h

#ifndef MISSION_SYSTEM_RWASS_H_
#define MISSION_SYSTEM_RWASS_H_

#include <fsfw/devicehandlers/AssemblyBase.h>
#include <fsfw/power/PowerSwitcher.h>

struct RwHelper {
  RwHelper(std::array<object_id_t, 4> rwIds) : rwIds(rwIds) {}

  std::array<object_id_t, 4> rwIds = {};
};

class RwAssembly : public AssemblyBase {
 public:
  RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
             RwHelper helper);

 private:
  static constexpr uint8_t NUMBER_RWS = 4;
  RwHelper helper;
  PowerSwitcher switcher;
  bool warningSwitch = true;
  bool modeTransitionFailedSwitch = true;
  FixedArrayList<ModeListEntry, NUMBER_RWS> modeTable;

  ReturnValue_t initialize() override;

  ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
  /**
   * Check whether it makes sense to send mode commands to the device
   * @param object
   * @param mode
   * @return
   */
  bool isUseable(object_id_t object, Mode_t mode);

  // AssemblyBase implementation
  void performChildOperation() override;
  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
  void startTransition(Mode_t mode, Submode_t submode) override;
  void handleModeReached() override;

  // These two overrides prevent a transition of the whole assembly back to off just because
  // some devices are not working
  void handleChildrenLostMode(ReturnValue_t result) override;
  void handleModeTransitionFailed(ReturnValue_t result) override;
};

#endif /* MISSION_SYSTEM_RWASS_H_ */