eive-obsw/mission/system/acs/ImtqAssembly.cpp

#include "ImtqAssembly.h"

#include <eive/objects.h>

using namespace returnvalue;

ImtqAssembly::ImtqAssembly(object_id_t objectId) : AssemblyBase(objectId) {
  ModeListEntry entry;
  entry.setObject(objects::IMTQ_HANDLER);
  entry.setMode(MODE_OFF);
  entry.setSubmode(SUBMODE_NONE);
  commandTable.insert(entry);
}

ReturnValue_t ImtqAssembly::commandChildren(Mode_t mode, Submode_t submode) {
  commandTable[0].setMode(mode);
  commandTable[0].setSubmode(submode);
  if (recoveryState == RECOVERY_IDLE) {
    ReturnValue_t result = checkAndHandleHealthState(mode, submode);
    if (result == NEED_TO_CHANGE_HEALTH) {
      return OK;
    }
  }
  HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
  executeTable(iter);
  return returnvalue::OK;
}

ReturnValue_t ImtqAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
  if (childrenMap[objects::IMTQ_HANDLER].mode != wantedMode) {
    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
  }
  return returnvalue::OK;
}

ReturnValue_t ImtqAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
  if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
    if(submode != SUBMODE_NONE) {
      return HasModesIF::INVALID_SUBMODE;
    }
    return returnvalue::OK;
  }
  return HasModesIF::INVALID_MODE;
}

ReturnValue_t ImtqAssembly::checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode) {
  HealthState health = healthHelper.healthTable->getHealth(objects::IMTQ_HANDLER);
  if (health == FAULTY or health == PERMANENT_FAULTY) {
    overwriteDeviceHealth(objects::IMTQ_HANDLER, health);
    return NEED_TO_CHANGE_HEALTH;
  } else if (health == EXTERNAL_CONTROL) {
    modeHelper.setForced(true);
  }
  return OK;
}

void ImtqAssembly::handleChildrenLostMode(ReturnValue_t result) { startTransition(mode, submode); }