102 lines
3.0 KiB
C++
102 lines
3.0 KiB
C++
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#include "SusAssembly.h"
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#include <devices/powerSwitcherList.h>
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#include <fsfw/power/PowerSwitchIF.h>
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#include <fsfw/serviceinterface.h>
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SusAssembly::SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
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SusAssHelper helper)
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: AssemblyBase(objectId, parentId), helper(helper), pwrSwitcher(pwrSwitcher) {}
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ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
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ReturnValue_t result = RETURN_OK;
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refreshHelperModes();
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return RETURN_OK;
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}
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ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
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return RETURN_OK;
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}
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ReturnValue_t SusAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
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if (submode != NOMINAL and submode != REDUNDANT and submode != DUAL_MODE) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t SusAssembly::initialize() {
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ReturnValue_t result = RETURN_OK;
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for (const auto& id : helper.susIds) {
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result = registerChild(id);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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}
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return result;
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}
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bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {
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if (healthHelper.healthTable->isFaulty(object)) {
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return false;
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}
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// Check if device is already in target mode
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if (childrenMap[object].mode == mode) {
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return true;
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}
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if (healthHelper.healthTable->isCommandable(object)) {
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return true;
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}
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return false;
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}
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void SusAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
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ReturnValue_t switchStateNom = RETURN_OK;
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ReturnValue_t switchStateRed = RETURN_OK;
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if (state == States::IDLE or state == States::SWITCHING_POWER) {
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switchStateNom = pwrSwitcher->getSwitchState(pcduSwitches::PDU1_CH4_SUS_NOMINAL_3V3);
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switchStateRed = pwrSwitcher->getSwitchState(pcduSwitches::PDU2_CH4_SUS_REDUNDANT_3V3);
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if (mode == MODE_OFF) {
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if (switchStateNom == PowerSwitchIF::SWITCH_OFF and
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switchStateRed == PowerSwitchIF::SWITCH_OFF) {
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state = States::MODE_COMMANDING;
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return;
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}
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} else {
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switch (submode) {
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case (NOMINAL): {
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if (switchStateNom == PowerSwitchIF::SWITCH_ON and
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switchStateRed == PowerSwitchIF::SWITCH_OFF) {
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state = States::MODE_COMMANDING;
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return;
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}
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break;
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}
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case (REDUNDANT): {
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if (switchStateNom == PowerSwitchIF::SWITCH_OFF and
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switchStateRed == PowerSwitchIF::SWITCH_ON) {
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state = States::MODE_COMMANDING;
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return;
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}
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break;
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}
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case (DUAL_MODE): {
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if (switchStateNom == PowerSwitchIF::SWITCH_ON and
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switchStateRed == PowerSwitchIF::SWITCH_ON) {
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state = States::MODE_COMMANDING;
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return;
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}
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}
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}
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}
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}
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}
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void SusAssembly::refreshHelperModes() {
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for (uint8_t idx = 0; idx < helper.susModes.size(); idx++) {
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helper.susModes[idx] = childrenMap[helper.susIds[idx]].mode;
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}
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}
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