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added some missing acs board ass code
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This commit is contained in:
Robin Müller
2022-03-04 00:55:51 +01:00
parent 0595e29100
commit 120153e9c7
4 changed files with 133 additions and 19 deletions
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28
mission/system/AcsBoardAssembly.h
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@ -1,6 +1,7 @@
#ifndef MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
#define MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
#include <common/config/commonSubsystemIds.h>
#include <devices/powerSwitcherList.h>
#include <fsfw/devicehandlers/AssemblyBase.h>
#include <fsfw/objectmanager/frameworkObjects.h>
@ -54,17 +55,30 @@ enum ModeTableIdx : uint8_t {
};
class PowerSwitchIF;
class GpioIF;
class AcsBoardAssembly : public AssemblyBase {
public:
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_BOARD_ASS;
static constexpr Event TRANSITION_OTHER_SIDE_FAILED =
event::makeEvent(SUBSYSTEM_ID, 0, severity::HIGH);
static constexpr Event NOT_ENOUGH_DEVICES_DUAL_MODE =
event::makeEvent(SUBSYSTEM_ID, 1, severity::HIGH);
static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
static constexpr Submode_t A_SIDE = 0;
static constexpr Submode_t B_SIDE = 1;
static constexpr Submode_t DUAL_MODE = 2;
enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
AcsBoardHelper helper);
AcsBoardHelper helper, GpioIF* gpioIF);
void setPreferredSide(Submodes submode);
/**
* In dual mode, the A side or the B side GPS device can be used, but not both.
* This function can be used to switch the used GPS device.
* @param side
*/
void selectGpsInDualMode(Submodes side);
private:
static constexpr pcduSwitches::Switches SWITCH_A =
@ -75,8 +89,11 @@ class AcsBoardAssembly : public AssemblyBase {
enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
PowerSwitchIF* pwrSwitcher = nullptr;
bool tryingOtherSide = false;
AcsBoardHelper helper;
GpioIF* gpioIF = nullptr;
Submodes defaultSubmode = Submodes::A_SIDE;
bool dualModeErrorSwitch = true;
FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;
ReturnValue_t initialize() override;
@ -87,6 +104,7 @@ class AcsBoardAssembly : public AssemblyBase {
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
void handleModeReached() override;
void handleModeTransitionFailed(ReturnValue_t result) override;
void handleChildrenLostMode(ReturnValue_t result) override;
/**
* Check whether it makes sense to send mode commands to the device