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

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#ifndef MISSION_SYSTEM_RWASS_H_
#define MISSION_SYSTEM_RWASS_H_
#include <fsfw/devicehandlers/AssemblyBase.h>
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#include <fsfw/power/PowerSwitcher.h>
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struct RwHelper {
RwHelper(std::array<object_id_t, 4> rwIds) : rwIds(rwIds) {}
std::array<object_id_t, 4> rwIds = {};
};
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class RwAssembly : public AssemblyBase {
public:
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RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
RwHelper helper);
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private:
static constexpr uint8_t NUMBER_RWS = 4;
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RwHelper helper;
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PowerSwitcher switcher;
bool warningSwitch = true;
bool modeTransitionFailedSwitch = true;
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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;
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};
#endif /* MISSION_SYSTEM_RWASS_H_ */