eive-obsw/mission/system/SharedPowerAssemblyBase.cpp

92 lines
3.2 KiB
C++
Raw Normal View History

2023-04-11 22:58:13 +02:00
#include "SharedPowerAssemblyBase.h"
SharedPowerAssemblyBase::SharedPowerAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
power::Switch_t switchId, uint16_t cmdQueueDepth)
: AssemblyBase(objectId, cmdQueueDepth), switcher(pwrSwitcher, switchId) {}
void SharedPowerAssemblyBase::performChildOperation() {
auto state = switcher.getState();
if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
AssemblyBase::performChildOperation();
return;
}
switcher.doStateMachine();
if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
// Indicator that a transition to off is finished
AssemblyBase::handleModeReached();
} else if (state == PowerSwitcher::WAIT_ON and
switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
// Indicator that mode commanding can be performed now
AssemblyBase::startTransition(targetMode, targetSubmode);
}
}
void SharedPowerAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
if (mode != MODE_OFF) {
switcher.turnOn(true);
switcher.doStateMachine();
if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
AssemblyBase::startTransition(mode, submode);
} else {
// Need to wait with mode commanding until power switcher is done
targetMode = mode;
targetSubmode = submode;
}
} else {
// Perform regular mode commanding first
AssemblyBase::startTransition(mode, submode);
}
}
void SharedPowerAssemblyBase::handleModeReached() {
if (targetMode == MODE_OFF) {
switcher.turnOff(true);
switcher.doStateMachine();
// Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
AssemblyBase::handleModeReached();
}
} else {
AssemblyBase::handleModeReached();
}
}
bool SharedPowerAssemblyBase::checkAndHandleRecovery() {
using namespace power;
if (recoveryState == RECOVERY_IDLE) {
return AssemblyBase::checkAndHandleRecovery();
}
if (customRecoveryStates == IDLE) {
switcher.turnOff();
customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_OFF;
}
if (customRecoveryStates == POWER_SWITCHING_OFF) {
switcher.doStateMachine();
if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_ON;
switcher.turnOn();
}
}
if (customRecoveryStates == POWER_SWITCHING_ON) {
switcher.doStateMachine();
if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
customRecoveryStates = RecoveryCustomStates::DONE;
}
}
if (customRecoveryStates == DONE) {
bool pendingRecovery = AssemblyBase::checkAndHandleRecovery();
if (not pendingRecovery) {
customRecoveryStates = RecoveryCustomStates::IDLE;
}
// For a recovery on one side, only do the recovery once
for (auto& child : childrenMap) {
if (healthHelper.healthTable->getHealth(child.first) == HasHealthIF::NEEDS_RECOVERY) {
sendHealthCommand(child.second.commandQueue, HEALTHY);
child.second.healthChanged = false;
}
}
return pendingRecovery;
}
return true;
}