eive-obsw/mission/devices/SolarArrayDeploymentHandler.h

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#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
#include <fsfw/action/HasActionsIF.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/timemanager/Countdown.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <unordered_map>
/**
* @brief This class is used to control the solar array deployment.
*
* @author J. Meier
*/
class SolarArrayDeploymentHandler : public ExecutableObjectIF,
public SystemObject,
public HasReturnvaluesIF,
public HasActionsIF {
public:
static const DeviceCommandId_t DEPLOY_SOLAR_ARRAYS = 0x5;
/**
* @brief constructor
*
* @param setObjectId The object id of the SolarArrayDeploymentHandler.
* @param gpioDriverId The id of the gpio com if.
* @param gpioCookie GpioCookie holding information about the gpios used to switch the
* transistors.
* @param mainLineSwitcherObjectId The object id of the object responsible for switching
* the 8V power source. This is normally the PCDU.
* @param mainLineSwitch The id of the main line switch. This is defined in
* powerSwitcherList.h.
* @param deplSA1 gpioId of the GPIO controlling the deployment 1 transistor.
* @param deplSA2 gpioId of the GPIO controlling the deployment 2 transistor.
* @param burnTimeMs Time duration the power will be applied to the burn wires.
*/
SolarArrayDeploymentHandler(object_id_t setObjectId, object_id_t gpioDriverId,
CookieIF* gpioCookie, object_id_t mainLineSwitcherObjectId,
uint8_t mainLineSwitch, gpioId_t deplSA1, gpioId_t deplSA2,
uint32_t burnTimeMs);
virtual ~SolarArrayDeploymentHandler();
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
virtual MessageQueueId_t getCommandQueue() const override;
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
virtual ReturnValue_t initialize() override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::SA_DEPL_HANDLER;
static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
static const ReturnValue_t DEPLOYMENT_ALREADY_EXECUTING = MAKE_RETURN_CODE(0xA1);
static const ReturnValue_t MAIN_SWITCH_TIMEOUT_FAILURE = MAKE_RETURN_CODE(0xA2);
static const ReturnValue_t SWITCHING_DEPL_SA1_FAILED = MAKE_RETURN_CODE(0xA3);
static const ReturnValue_t SWITCHING_DEPL_SA2_FAILED = MAKE_RETURN_CODE(0xA4);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SA_DEPL_HANDLER;
static const Event MAIN_SWITCH_ON_TIMEOUT = MAKE_EVENT(0, severity::LOW);
static const Event MAIN_SWITCH_OFF_TIMEOUT = MAKE_EVENT(1, severity::LOW);
static const Event DEPLOYMENT_FAILED = MAKE_EVENT(2, severity::HIGH);
static const Event DEPL_SA1_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(3, severity::HIGH);
static const Event DEPL_SA2_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(4, severity::HIGH);
enum StateMachine {
WAIT_ON_DELOYMENT_COMMAND,
SWITCH_8V_ON,
WAIT_ON_8V_SWITCH,
SWITCH_DEPL_GPIOS,
WAIT_ON_DEPLOYMENT_FINISH,
WAIT_FOR_MAIN_SWITCH_OFF
};
StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND;
/**
* This countdown is used to check if the PCDU sets the 8V line on in the intended time.
*/
Countdown mainSwitchCountdown;
/**
* This countdown is used to wait for the burn wire being successful cut.
*/
Countdown deploymentCountdown;
/**
* The message queue id of the component commanding an action will be stored in this variable.
* This is necessary to send later the action finish replies.
*/
MessageQueueId_t rememberCommanderId = 0;
/** Size of command queue */
size_t cmdQueueSize = 20;
/** The object ID of the GPIO driver which switches the deployment transistors */
object_id_t gpioDriverId;
CookieIF* gpioCookie;
/** Object id of the object responsible to switch the 8V power input. Typically the PCDU. */
object_id_t mainLineSwitcherObjectId;
/** Switch number of the 8V power switch */
uint8_t mainLineSwitch;
gpioId_t deplSA1;
gpioId_t deplSA2;
GpioIF* gpioInterface = nullptr;
/** Time duration switches are active to cut the burn wire */
uint32_t burnTimeMs;
/** Queue to receive messages from other objects. */
MessageQueueIF* commandQueue = nullptr;
/**
* After initialization this pointer will hold the reference to the main line switcher object.
*/
PowerSwitchIF* mainLineSwitcher = nullptr;
ActionHelper actionHelper;
void readCommandQueue();
/**
* @brief This function performs actions dependent on the current state.
*/
void handleStateMachine();
/**
* @brief This function polls the 8V switch state and changes the state machine when the
* switch has been enabled.
*/
void performWaitOn8VActions();
/**
* @brief This functions handles the switching of the solar array deployment transistors.
*/
void switchDeploymentTransistors();
/**
* @brief This function performs actions to finish the deployment. Essentially switches
* are turned of after the burn time has expired.
*/
void handleDeploymentFinish();
};
#endif /* MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ */