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

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#include "ImtqAssembly.h"
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#include <eive/objects.h>
using namespace returnvalue;
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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);
}
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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) {
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if(submode != SUBMODE_NONE) {
return HasModesIF::INVALID_SUBMODE;
}
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return returnvalue::OK;
}
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return HasModesIF::INVALID_MODE;
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}
ReturnValue_t ImtqAssembly::checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode) {
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HealthState health = healthHelper.healthTable->getHealth(objects::IMTQ_HANDLER);
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if (health == FAULTY or health == PERMANENT_FAULTY) {
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overwriteDeviceHealth(objects::IMTQ_HANDLER, health);
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return NEED_TO_CHANGE_HEALTH;
} else if (health == EXTERNAL_CONTROL) {
modeHelper.setForced(true);
}
return OK;
}
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void ImtqAssembly::handleChildrenLostMode(ReturnValue_t result) { startTransition(mode, submode); }