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