created new dual lane assembly base

mission/system/AcsBoardAssembly.cpp

@@ -6,8 +6,8 @@
 
 AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
                                    PowerSwitchIF* switcher, AcsBoardHelper helper, GpioIF* gpioIF)
-    : AssemblyBase(objectId, parentId),
-      pwrStateMachine(SWITCH_A, SWITCH_B, switcher),
+    : DualLaneAssemblyBase(objectId, parentId, switcher, SWITCH_A, SWITCH_B,
+                           POWER_STATE_MACHINE_TIMEOUT),
       helper(helper),
       gpioIF(gpioIF) {
   if (switcher == nullptr) {
@@ -19,46 +19,15 @@ AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
     sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid GPIO IF passed" << std::endl;
   }
   ModeListEntry entry;
-  initModeTableEntry(helper.mgm0Lis3IdSideA, entry);
-  initModeTableEntry(helper.mgm1Rm3100IdSideA, entry);
-  initModeTableEntry(helper.mgm2Lis3IdSideB, entry);
-  initModeTableEntry(helper.mgm3Rm3100IdSideB, entry);
-  initModeTableEntry(helper.gyro0AdisIdSideA, entry);
-  initModeTableEntry(helper.gyro1L3gIdSideA, entry);
-  initModeTableEntry(helper.gyro2AdisIdSideB, entry);
-  initModeTableEntry(helper.gyro3L3gIdSideB, entry);
-  initModeTableEntry(helper.gpsId, entry);
-}
-
-void AcsBoardAssembly::performChildOperation() {
-  using namespace duallane;
-  if (pwrStateMachine.active()) {
-    pwrStateMachineWrapper();
-    // This state is the indicator that the power state machine is done
-  }
-  if (not pwrStateMachine.active()) {
-    AssemblyBase::performChildOperation();
-  }
-}
-
-void AcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
-  using namespace duallane;
-  pwrStateMachine.reset();
-  // If anything other than MODE_OFF is commanded, perform power state machine first
-  if (mode != MODE_OFF) {
-    // Cache the target modes, required by power state machine
-    pwrStateMachine.start(mode, submode);
-    // Cache these for later after the power state machine has finished
-    targetMode = mode;
-    targetSubmode = submode;
-    // Perform power state machine first, then start mode transition. The power state machine will
-    // start the transition after it has finished
-    pwrStateMachineWrapper();
-  } else {
-    // Command the devices to off first before switching off the power. The handleModeReached
-    // custom implementation will take care of starting the power state machine.
-    AssemblyBase::startTransition(mode, submode);
-  }
+  initModeTableEntry(helper.mgm0Lis3IdSideA, entry, modeTable);
+  initModeTableEntry(helper.mgm1Rm3100IdSideA, entry, modeTable);
+  initModeTableEntry(helper.mgm2Lis3IdSideB, entry, modeTable);
+  initModeTableEntry(helper.mgm3Rm3100IdSideB, entry, modeTable);
+  initModeTableEntry(helper.gyro0AdisIdSideA, entry, modeTable);
+  initModeTableEntry(helper.gyro1L3gIdSideA, entry, modeTable);
+  initModeTableEntry(helper.gyro2AdisIdSideB, entry, modeTable);
+  initModeTableEntry(helper.gyro3L3gIdSideB, entry, modeTable);
+  initModeTableEntry(helper.gpsId, entry, modeTable);
 }
 
 ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
@@ -95,11 +64,6 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
 ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
   using namespace duallane;
   refreshHelperModes();
-  //  if (state == PwrStates::SWITCHING_POWER) {
-  //    // Wrong mode
-  //    sif::error << "Wrong mode, currently switching power" << std::endl;
-  //    return RETURN_OK;
-  //  }
   if (wantedSubmode == A_SIDE) {
     if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
         (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
@@ -245,34 +209,6 @@ ReturnValue_t AcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
-  if (healthHelper.healthTable->isFaulty(object)) {
-    return false;
-  }
-
-  // Check if device is already in target mode
-  if (childrenMap[object].mode == mode) {
-    return true;
-  }
-
-  if (healthHelper.healthTable->isCommandable(object)) {
-    return true;
-  }
-  return false;
-}
-
-void AcsBoardAssembly::handleModeReached() {
-  using namespace duallane;
-  if (targetMode == MODE_OFF) {
-    pwrStateMachine.start(targetMode, targetSubmode);
-    // Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
-    // will be called
-    pwrStateMachineWrapper();
-  } else {
-    finishModeOp();
-  }
-}
-
 void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
   using namespace duallane;
   // Some ACS board components are required for Safe-Mode. It would be good if the software
@@ -357,14 +293,6 @@ void AcsBoardAssembly::refreshHelperModes() {
   }
 }
 
-void AcsBoardAssembly::initModeTableEntry(object_id_t id, ModeListEntry& entry) {
-  entry.setObject(id);
-  entry.setMode(MODE_OFF);
-  entry.setSubmode(SUBMODE_NONE);
-  entry.setInheritSubmode(false);
-  modeTable.insert(entry);
-}
-
 void AcsBoardAssembly::finishModeOp() {
   using namespace duallane;
   AssemblyBase::handleModeReached();
@@ -374,30 +302,6 @@ void AcsBoardAssembly::finishModeOp() {
   dualModeErrorSwitch = true;
 }
 
-ReturnValue_t AcsBoardAssembly::pwrStateMachineWrapper() {
-  using namespace duallane;
-  OpCodes opCode = pwrStateMachine.powerStateMachine();
-  if (opCode == OpCodes::NONE) {
-    return RETURN_OK;
-  } else if (opCode == OpCodes::FINISH_OP) {
-    finishModeOp();
-  } else if (opCode == OpCodes::START_TRANSITION) {
-    AssemblyBase::startTransition(targetMode, targetSubmode);
-  } else if (opCode == OpCodes::TIMEOUT_OCCURED) {
-    if (powerRetryCounter == 0) {
-      powerRetryCounter++;
-      pwrStateMachine.reset();
-    } else {
-#if OBSW_VERBOSE_LEVEL >= 1
-      sif::warning << "Timeout occured in power state machine" << std::endl;
-#endif
-      triggerEvent(POWER_STATE_MACHINE_TIMEOUT, 0, 0);
-      return RETURN_FAILED;
-    }
-  }
-  return RETURN_OK;
-}
-
 ReturnValue_t AcsBoardAssembly::initialize() {
   ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
   if (result != HasReturnvaluesIF::RETURN_OK) {