eive-obsw/mission/system/TcsBoardAssembly.h

#ifndef MISSION_SYSTEM_TCSSUBSYSTEM_H_
#define MISSION_SYSTEM_TCSSUBSYSTEM_H_

#include <fsfw/container/FixedArrayList.h>
#include <fsfw/devicehandlers/AssemblyBase.h>
#include <fsfw/power/PowerSwitcher.h>

#include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h"

struct TcsBoardHelper {
  TcsBoardHelper(std::array<std::pair<object_id_t, std::string>, 16> rtdInfos)
      : rtdInfos(std::move(rtdInfos)) {}

  std::array<std::pair<object_id_t, std::string>, 16> rtdInfos = {};
};

class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
 public:
  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_BOARD_ASS;
  static constexpr Event CHILDREN_LOST_MODE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);

  TcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
                   power::Switch_t switcher, TcsBoardHelper helper);

  ReturnValue_t initialize() override;

 private:
  static constexpr uint8_t NUMBER_RTDS = 16;
  PowerSwitcher switcher;
  bool warningSwitch = true;
  TcsBoardHelper helper;
  FixedArrayList<ModeListEntry, NUMBER_RTDS> modeTable;
  MessageQueueIF* eventQueue = nullptr;

  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);

  // ConfirmFailureIF implementation
  MessageQueueId_t getEventReceptionQueue() override;

  // 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;
};

#endif /* MISSION_SYSTEM_TCSSUBSYSTEM_H_ */